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   <div id="projectbrief">A visual-inertial calibration library designed for rapid problem construction and debugging.</div>
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<div class="title">camera_models.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef CALICO_SENSORS_CAMERA_MODELS_H_</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define CALICO_SENSORS_CAMERA_MODELS_H_</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;calico/typedefs.h&quot;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160; </div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &lt;memory&gt;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;absl/status/statusor.h&quot;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;calico/statusor_macros.h&quot;</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;Eigen/Dense&quot;</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160; </div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; </div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecalico_1_1sensors.html">calico::sensors</a> {</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160; </div>
<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2f">   16</a></span>&#160;<span class="keyword">enum class</span> <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2f">CameraIntrinsicsModel</a> : int {</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;  <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2fa35c3ace1970663a16e5c65baa5941b13">kNone</a>,</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2fa5c5d81ff8c055e0af2d4080ca90f3b6d">kOpenCv5</a>,</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2faf69e1df9c2c0e23b808833cf5d08984f">kOpenCv8</a>,</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2facdda420f3e6370295024788dcf9e846d">kKannalaBrandt</a>,</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2faff638d15c8b2b0f612376181393188fd">kDoubleSphere</a>,</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2fadfc7df0f7b103737f5161a57e8f57c34">kFieldOfView</a>,</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2fad503d78b33140ff594ed435baf9ea03c">kUnifiedCamera</a>,</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2fa2595f2f448ef0344029c159851eca78d">kExtendedUnifiedCamera</a>,</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;};</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160; </div>
<div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1CameraModel.html">   36</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcalico_1_1sensors_1_1CameraModel.html">CameraModel</a> {</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="classcalico_1_1sensors_1_1CameraModel.html">CameraModel</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  absl::StatusOr&lt;Eigen::Vector2&lt;T&gt;&gt; <a class="code" href="classcalico_1_1sensors_1_1CameraModel.html#af2b6c4e6787815273879f81a216bc84d">ProjectPoint</a>(</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;      <span class="keyword">const</span> Eigen::VectorX&lt;T&gt;&amp; intrinsics,</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;      <span class="keyword">const</span> Eigen::Vector3&lt;T&gt;&amp; point) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  absl::StatusOr&lt;Eigen::Vector3&lt;T&gt;&gt; <a class="code" href="classcalico_1_1sensors_1_1CameraModel.html#a9724081a0bfba064a65bde83cded5dc9">UnprojectPixel</a>(</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      <span class="keyword">const</span> Eigen::VectorX&lt;T&gt;&amp; intrinsics,</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <span class="keyword">const</span> Eigen::Vector2&lt;T&gt;&amp; pixel) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1CameraModel.html#a9384a7307fc7a48d310f361f3b0b4a17">   58</a></span>&#160;  <span class="keyword">virtual</span> <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2f">CameraIntrinsicsModel</a> <a class="code" href="classcalico_1_1sensors_1_1CameraModel.html#a9384a7307fc7a48d310f361f3b0b4a17">GetType</a>() <span class="keyword">const</span>  = 0;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1CameraModel.html#aab677e475ba93fc317ecafc43f4d4711">   61</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">int</span> <a class="code" href="classcalico_1_1sensors_1_1CameraModel.html#aab677e475ba93fc317ecafc43f4d4711">NumberOfParameters</a>() <span class="keyword">const</span> = 0;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="comment">// TODO(yangjames): This method should return an absl::StatusOr. Figure out</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="comment">//   how to support this using unique_ptr&#39;s, or find macros that already</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="comment">//   implement this feature (i.e. ASSIGN_OR_RETURN).</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="comment"></span>  <span class="keyword">static</span> std::unique_ptr&lt;CameraModel&gt; <a class="code" href="classcalico_1_1sensors_1_1CameraModel.html#aeda2cd0d8d899ba285a7e610b32fd2a4">Create</a>(</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2f">CameraIntrinsicsModel</a> camera_model);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;};</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1OpenCv5Model.html">   79</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcalico_1_1sensors_1_1OpenCv5Model.html">OpenCv5Model</a> : <span class="keyword">public</span> <a class="code" href="classcalico_1_1sensors_1_1CameraModel.html">CameraModel</a> {</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> kNumberOfParameters = 8;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keyword">static</span> constexpr <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2f">CameraIntrinsicsModel</a> kModelType = <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2fa5c5d81ff8c055e0af2d4080ca90f3b6d">CameraIntrinsicsModel::kOpenCv5</a>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <a class="code" href="classcalico_1_1sensors_1_1OpenCv5Model.html">OpenCv5Model</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  ~<a class="code" href="classcalico_1_1sensors_1_1OpenCv5Model.html">OpenCv5Model</a>() <span class="keyword">override</span> = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <a class="code" href="classcalico_1_1sensors_1_1OpenCv5Model.html">OpenCv5Model</a>&amp; operator=(<span class="keyword">const</span> <a class="code" href="classcalico_1_1sensors_1_1OpenCv5Model.html">OpenCv5Model</a>&amp;) = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1OpenCv5Model.html#a4aa78688f3baf12b5d6fef0216452f4a">  105</a></span>&#160;  <span class="keyword">static</span> absl::StatusOr&lt;Eigen::Vector2&lt;T&gt;&gt; <a class="code" href="classcalico_1_1sensors_1_1OpenCv5Model.html#a4aa78688f3baf12b5d6fef0216452f4a">ProjectPoint</a>(</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keyword">const</span> Eigen::VectorX&lt;T&gt;&amp; intrinsics,</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keyword">const</span> Eigen::Vector3&lt;T&gt;&amp; point) {</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keywordflow">if</span> (point.z() &lt;= T(0.0)) {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keywordflow">return</span> absl::InvalidArgumentError(</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;          <span class="stringliteral">&quot;Camera point is behind the camera. Cannot project.&quot;</span>);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    }</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keywordflow">if</span> (intrinsics.size() != kNumberOfParameters) {</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keywordflow">return</span> absl::InvalidArgumentError(absl::StrCat(</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;          <span class="stringliteral">&quot;Invalid number of intrinsics parameters provided. Expected &quot;</span>,</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          kNumberOfParameters, <span class="stringliteral">&quot;. Got &quot;</span>, intrinsics.size()));</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    }</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="comment">// Prepare values.</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="keyword">const</span> T&amp; f = intrinsics(0);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keyword">const</span> T&amp; cx = intrinsics(1);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keyword">const</span> T&amp; cy = intrinsics(2);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="keyword">const</span> T&amp; k1 = intrinsics(3);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keyword">const</span> T&amp; k2 = intrinsics(4);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keyword">const</span> T&amp; p1 = intrinsics(5);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keyword">const</span> T&amp; p2 = intrinsics(6);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <span class="keyword">const</span> T&amp; k3 = intrinsics(7);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    Eigen::Vector2&lt;T&gt; projection(point.x() / point.z(), point.y() / point.z());</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keyword">const</span> T x = projection.x();</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keyword">const</span> T y = projection.y();</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keyword">const</span> T r2 = projection.squaredNorm();</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keyword">const</span> T s = T(1.0) + r2 * (k1 + r2 * (k2 + r2 * k3));</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="comment">// Apply radial distortion.</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    projection *= s;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="comment">// Apply tangential distortion.</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    projection.x() += T(2.0) * p1 * x * y + p2 * (r2 + T(2.0) * x * x);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    projection.y() += T(2.0) * p2 * x * y + p1 * (r2 + T(2.0) * y * y);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="comment">// Apply pinhole parameters.</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    projection *= f;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    projection.x() += cx;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    projection.y() += cy;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keywordflow">return</span> projection;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  }</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1OpenCv5Model.html#a217beae32c405b834d83d05a6e13dfb1">  157</a></span>&#160;  <span class="keyword">static</span> absl::StatusOr&lt;Eigen::Vector3&lt;T&gt;&gt; <a class="code" href="classcalico_1_1sensors_1_1OpenCv5Model.html#a217beae32c405b834d83d05a6e13dfb1">UnprojectPixel</a>(</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <span class="keyword">const</span> Eigen::VectorX&lt;T&gt;&amp; intrinsics,</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <span class="keyword">const</span> Eigen::Vector2&lt;T&gt;&amp; pixel,</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keywordtype">int</span> max_iterations = 30) {</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    constexpr T kSmallValue = T(1e-14);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keywordflow">if</span> (intrinsics.size() != kNumberOfParameters) {</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keywordflow">return</span> absl::InvalidArgumentError(absl::StrCat(</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;          <span class="stringliteral">&quot;Expected &quot;</span>, kNumberOfParameters, <span class="stringliteral">&quot; parameters for intrinsics. Got &quot;</span>,</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;          intrinsics.size()));</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    }</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keyword">const</span> T&amp; f = intrinsics(0);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keyword">const</span> T&amp; cx = intrinsics(1);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="keyword">const</span> T&amp; cy = intrinsics(2);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    <span class="keyword">const</span> T&amp; k1 = intrinsics(3);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keyword">const</span> T&amp; k2 = intrinsics(4);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keyword">const</span> T&amp; p1 = intrinsics(5);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;    <span class="keyword">const</span> T&amp; p2 = intrinsics(6);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    <span class="keyword">const</span> T&amp; k3 = intrinsics(7);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;    <span class="keyword">const</span> T inv_f = T(1.0) / f;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="comment">// Invert pinhole model from distorted point.</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <span class="keyword">const</span> T xd0 = inv_f * (pixel.x() - cx);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keyword">const</span> T yd0 = inv_f * (pixel.y() - cy);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="comment">// Set distorted pixel as initial guess.</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    T x = xd0;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    T y = yd0;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="comment">// Run Newton&#39;s method on the residual of distorted pixel.</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; max_iterations; ++i) {</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="keyword">const</span> T x2 = x * x;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      <span class="keyword">const</span> T y2 = y * y;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      <span class="keyword">const</span> T r2 = x2 + y2;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      <span class="keyword">const</span> T s = T(1.0) + r2 * (k1 + r2 * (k2 + r2 * k3));</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <span class="comment">// Compute residual.</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      <span class="keyword">const</span> T err_x = xd0 - (s * x + 2 * p1 * x * y + p2 * (r2 + 2 * x2));</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      <span class="keyword">const</span> T err_y = yd0 - (s * y + 2 * p2 * x * y + p1 * (r2 + 2 * y2));</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      <span class="comment">// If residual is small enough, exit early.</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="keywordflow">if</span> (std::abs(err_x) + std::abs(err_y) &lt; kSmallValue) {</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      }</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <span class="comment">// Compute Jacobian:</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      <span class="comment">// J = [a, b]</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="comment">//     [b, c]</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="keyword">const</span> T ds = 2 * (k1 + r2 * (2 * k2 + 3 * k3 * r2));</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="keyword">const</span> T a = ds * x2 + s + 2 * (p1 * y + 3 * p2 * x);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <span class="keyword">const</span> T b = ds * x * y + 2 * (p1 * x + p2 * y);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      <span class="keyword">const</span> T c = ds * y2 + s + 2 * (p2 * x + 3 * p1 * y);</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      <span class="comment">// Invert Jacobian;</span></div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keyword">const</span> T det = T(1.0) / (a * c - b * b);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      <span class="keyword">const</span> T alpha = det * c;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <span class="keyword">const</span> T beta = -det * b;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <span class="keyword">const</span> T gamma = det * a;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      <span class="comment">// Apply update.</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      x = x + (alpha * err_x + beta * err_y);</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      y = y + (beta * err_x + gamma * err_y);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    }</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    Eigen::Vector3&lt;T&gt; bearing_vector(x, y, 1);</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    bearing_vector.normalize();</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    <span class="keywordflow">return</span> bearing_vector;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  }</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1OpenCv5Model.html#ac7d24a188775387ddab2468106e8fac3">  216</a></span>&#160;  <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2f">CameraIntrinsicsModel</a> <a class="code" href="classcalico_1_1sensors_1_1OpenCv5Model.html#ac7d24a188775387ddab2468106e8fac3">GetType</a>() const final {</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    <span class="keywordflow">return</span> kModelType;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  }</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1OpenCv5Model.html#afbdff9e7e22e38ead790b54a70eda378">  220</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcalico_1_1sensors_1_1OpenCv5Model.html#afbdff9e7e22e38ead790b54a70eda378">NumberOfParameters</a>() const final {</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="keywordflow">return</span> kNumberOfParameters;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  }</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;};</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1OpenCv8Model.html">  231</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcalico_1_1sensors_1_1OpenCv8Model.html">OpenCv8Model</a> : <span class="keyword">public</span> <a class="code" href="classcalico_1_1sensors_1_1CameraModel.html">CameraModel</a> {</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> kNumberOfParameters = 11;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  <span class="keyword">static</span> constexpr <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2f">CameraIntrinsicsModel</a> kModelType = <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2faf69e1df9c2c0e23b808833cf5d08984f">CameraIntrinsicsModel::kOpenCv8</a>;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <a class="code" href="classcalico_1_1sensors_1_1OpenCv8Model.html">OpenCv8Model</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  ~<a class="code" href="classcalico_1_1sensors_1_1OpenCv8Model.html">OpenCv8Model</a>() <span class="keyword">override</span> = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  <a class="code" href="classcalico_1_1sensors_1_1OpenCv8Model.html">OpenCv8Model</a>&amp; operator=(<span class="keyword">const</span> <a class="code" href="classcalico_1_1sensors_1_1OpenCv8Model.html">OpenCv8Model</a>&amp;) = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00257"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1OpenCv8Model.html#a4740ff63eef29b5266ba111dce582bc1">  257</a></span>&#160;  <span class="keyword">static</span> absl::StatusOr&lt;Eigen::Vector2&lt;T&gt;&gt; <a class="code" href="classcalico_1_1sensors_1_1OpenCv8Model.html#a4740ff63eef29b5266ba111dce582bc1">ProjectPoint</a>(</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      <span class="keyword">const</span> Eigen::VectorX&lt;T&gt;&amp; intrinsics,</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      <span class="keyword">const</span> Eigen::Vector3&lt;T&gt;&amp; point) {</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <span class="keywordflow">if</span> (point.z() &lt;= T(0.0)) {</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      <span class="keywordflow">return</span> absl::InvalidArgumentError(</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;          <span class="stringliteral">&quot;Camera point is behind the camera. Cannot project.&quot;</span>);</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    }</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    <span class="keywordflow">if</span> (intrinsics.size() != kNumberOfParameters) {</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      <span class="keywordflow">return</span> absl::InvalidArgumentError(absl::StrCat(</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;          <span class="stringliteral">&quot;Invalid number of intrinsics parameters provided. Expected &quot;</span>,</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;          kNumberOfParameters, <span class="stringliteral">&quot;. Got &quot;</span>, intrinsics.size()));</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    }</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    <span class="comment">// Prepare values.</span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    <span class="keyword">const</span> T&amp; f = intrinsics(0);</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    <span class="keyword">const</span> T&amp; cx = intrinsics(1);</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    <span class="keyword">const</span> T&amp; cy = intrinsics(2);</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    <span class="keyword">const</span> T&amp; k1 = intrinsics(3);</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    <span class="keyword">const</span> T&amp; k2 = intrinsics(4);</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    <span class="keyword">const</span> T&amp; p1 = intrinsics(5);</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    <span class="keyword">const</span> T&amp; p2 = intrinsics(6);</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    <span class="keyword">const</span> T&amp; k3 = intrinsics(7);</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    <span class="keyword">const</span> T&amp; k4 = intrinsics(8);</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    <span class="keyword">const</span> T&amp; k5 = intrinsics(9);</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    <span class="keyword">const</span> T&amp; k6 = intrinsics(10);</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    Eigen::Vector2&lt;T&gt; projection(point.x() / point.z(), point.y() / point.z());</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    <span class="keyword">const</span> T x = projection.x();</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    <span class="keyword">const</span> T y = projection.y();</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;    <span class="keyword">const</span> T r2 = projection.squaredNorm();</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    <span class="keyword">const</span> T s_num = T(1.0) + r2 * (k1 + r2 * (k2 + r2 * k3));</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    <span class="keyword">const</span> T s_den = T(1.0) + r2 * (k4 + r2 * (k5 + r2 * k6));</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    <span class="keyword">const</span> T s = s_num / s_den;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    <span class="comment">// Apply radial distortion.</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    projection *= s;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    <span class="comment">// Apply tangential distortion.</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    projection.x() += T(2.0) * p1 * x * y + p2 * (r2 + T(2.0) * x * x);</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    projection.y() += T(2.0) * p2 * x * y + p1 * (r2 + T(2.0) * y * y);</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    <span class="comment">// Apply pinhole parameters.</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    projection *= f;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    projection.x() += cx;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    projection.y() += cy;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    <span class="keywordflow">return</span> projection;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  }</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00314"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1OpenCv8Model.html#ae457ea890027858b20ff4f85eb69c0b7">  314</a></span>&#160;  <span class="keyword">static</span> absl::StatusOr&lt;Eigen::Vector3&lt;T&gt;&gt; <a class="code" href="classcalico_1_1sensors_1_1OpenCv8Model.html#ae457ea890027858b20ff4f85eb69c0b7">UnprojectPixel</a>(</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      <span class="keyword">const</span> Eigen::VectorX&lt;T&gt;&amp; intrinsics,</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      <span class="keyword">const</span> Eigen::Vector2&lt;T&gt;&amp; pixel,</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      <span class="keywordtype">int</span> max_iterations = 30) {</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    constexpr T kSmallValue = T(1e-14);</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    <span class="keywordflow">if</span> (intrinsics.size() != kNumberOfParameters) {</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      <span class="keywordflow">return</span> absl::InvalidArgumentError(absl::StrCat(</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;          <span class="stringliteral">&quot;Expected &quot;</span>, kNumberOfParameters, <span class="stringliteral">&quot; parameters for intrinsics. Got &quot;</span>,</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;          intrinsics.size()));</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    }</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    <span class="keyword">const</span> T&amp; f = intrinsics(0);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    <span class="keyword">const</span> T&amp; cx = intrinsics(1);</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    <span class="keyword">const</span> T&amp; cy = intrinsics(2);</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    <span class="keyword">const</span> T&amp; k1 = intrinsics(3);</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    <span class="keyword">const</span> T&amp; k2 = intrinsics(4);</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    <span class="keyword">const</span> T&amp; p1 = intrinsics(5);</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    <span class="keyword">const</span> T&amp; p2 = intrinsics(6);</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    <span class="keyword">const</span> T&amp; k3 = intrinsics(7);</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    <span class="keyword">const</span> T&amp; k4 = intrinsics(8);</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    <span class="keyword">const</span> T&amp; k5 = intrinsics(9);</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    <span class="keyword">const</span> T&amp; k6 = intrinsics(10);</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    <span class="keyword">const</span> T inv_f = T(1.0) / f;</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    <span class="comment">// Invert pinhole model from distorted point.</span></div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;    <span class="keyword">const</span> T xd0 = inv_f * (pixel.x() - cx);</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    <span class="keyword">const</span> T yd0 = inv_f * (pixel.y() - cy);</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    <span class="comment">// Set distorted pixel as initial guess.</span></div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    T x = xd0;</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;    T y = yd0;</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    <span class="comment">// Run Newton&#39;s method on the residual of distorted pixel.</span></div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; max_iterations; ++i) {</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      <span class="keyword">const</span> T x2 = x * x;</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;      <span class="keyword">const</span> T y2 = y * y;</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;      <span class="keyword">const</span> T r2 = x2 + y2;</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;      <span class="keyword">const</span> T s_num = T(1.0) + r2 * (k1 + r2 * (k2 + r2 * k3));</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;      <span class="keyword">const</span> T s_den = T(1.0) + r2 * (k4 + r2 * (k5 + r2 * k6));</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      <span class="keyword">const</span> T s = s_num / s_den;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;      <span class="comment">// Compute residual.</span></div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;      <span class="keyword">const</span> T err_x = xd0 - (s * x + 2 * p1 * x * y + p2 * (r2 + 2 * x2));</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      <span class="keyword">const</span> T err_y = yd0 - (s * y + 2 * p2 * x * y + p1 * (r2 + 2 * y2));</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      <span class="comment">// If residual is small enough, exit early.</span></div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;      <span class="keywordflow">if</span> (std::abs(err_x) + std::abs(err_y) &lt; kSmallValue) {</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;      }</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      <span class="comment">// Compute Jacobian:</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;      <span class="comment">// J = [a, b]</span></div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;      <span class="comment">//     [b, c]</span></div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;      <span class="keyword">const</span> T dnum = k1 + r2 * (T(2.0) * k2 + T(3.0) * r2 * k3);</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;      <span class="keyword">const</span> T dden = k4 + r2 * (T(2.0) * k5 + T(3.0) * r2 * k6);</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;      <span class="keyword">const</span> T ds = (dnum - s * dden) / s_den;</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;      <span class="keyword">const</span> T a = ds * x2 + s + 2 * (p1 * y + 3 * p2 * x);</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      <span class="keyword">const</span> T b = ds * x * y + 2 * (p1 * x + p2 * y);</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      <span class="keyword">const</span> T c = ds * y2 + s + 2 * (p2 * x + 3 * p1 * y);</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;      <span class="comment">// Invert Jacobian;</span></div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;      <span class="keyword">const</span> T det = T(1.0) / (a * c - b * b);</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      <span class="keyword">const</span> T alpha = det * c;</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      <span class="keyword">const</span> T beta = -det * b;</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;      <span class="keyword">const</span> T gamma = det * a;</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;      <span class="comment">// Apply update.</span></div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;      x = x + (alpha * err_x + beta * err_y);</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;      y = y + (beta * err_x + gamma * err_y);</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;    }</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;    Eigen::Vector3&lt;T&gt; bearing_vector(x, y, 1);</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;    bearing_vector.normalize();</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;    <span class="keywordflow">return</span> bearing_vector;</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;  }</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160; </div>
<div class="line"><a name="l00380"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1OpenCv8Model.html#ab39ea54fd42e21ef5341d4fe3a31b886">  380</a></span>&#160;  <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2f">CameraIntrinsicsModel</a> <a class="code" href="classcalico_1_1sensors_1_1OpenCv8Model.html#ab39ea54fd42e21ef5341d4fe3a31b886">GetType</a>() const final {</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    <span class="keywordflow">return</span> kModelType;</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;  }</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160; </div>
<div class="line"><a name="l00384"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1OpenCv8Model.html#aea73193a91b42a0470a8f2f309d9af1f">  384</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcalico_1_1sensors_1_1OpenCv8Model.html#aea73193a91b42a0470a8f2f309d9af1f">NumberOfParameters</a>() const final {</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;    <span class="keywordflow">return</span> kNumberOfParameters;</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  }</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;};</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160; </div>
<div class="line"><a name="l00395"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1KannalaBrandtModel.html">  395</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcalico_1_1sensors_1_1KannalaBrandtModel.html">KannalaBrandtModel</a> : <span class="keyword">public</span> <a class="code" href="classcalico_1_1sensors_1_1CameraModel.html">CameraModel</a> {</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> kNumberOfParameters = 7;</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;  <span class="keyword">static</span> constexpr <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2f">CameraIntrinsicsModel</a> kModelType = <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2facdda420f3e6370295024788dcf9e846d">CameraIntrinsicsModel::kKannalaBrandt</a>;</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160; </div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;  <a class="code" href="classcalico_1_1sensors_1_1KannalaBrandtModel.html">KannalaBrandtModel</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;  ~<a class="code" href="classcalico_1_1sensors_1_1KannalaBrandtModel.html">KannalaBrandtModel</a>() <span class="keyword">override</span> = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;  <a class="code" href="classcalico_1_1sensors_1_1KannalaBrandtModel.html">KannalaBrandtModel</a>&amp; operator=(<span class="keyword">const</span> <a class="code" href="classcalico_1_1sensors_1_1KannalaBrandtModel.html">KannalaBrandtModel</a>&amp;) = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160; </div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00420"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1KannalaBrandtModel.html#af7f67950a1adaf7005323f2320baee87">  420</a></span>&#160;  <span class="keyword">static</span> absl::StatusOr&lt;Eigen::Vector2&lt;T&gt;&gt; <a class="code" href="classcalico_1_1sensors_1_1KannalaBrandtModel.html#af7f67950a1adaf7005323f2320baee87">ProjectPoint</a>(</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;      <span class="keyword">const</span> Eigen::VectorX&lt;T&gt;&amp; intrinsics,</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;      <span class="keyword">const</span> Eigen::Vector3&lt;T&gt;&amp; point) {</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;    <span class="keywordflow">if</span> (point.z() &lt;= T(0.0)) {</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;      <span class="keywordflow">return</span> absl::InvalidArgumentError(</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;          <span class="stringliteral">&quot;Camera point is behind the camera. Cannot project.&quot;</span>);</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;    }</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;    <span class="keywordflow">if</span> (intrinsics.size() != kNumberOfParameters) {</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;      <span class="keywordflow">return</span> absl::InvalidArgumentError(absl::StrCat(</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;          <span class="stringliteral">&quot;Invalid number of intrinsics parameters provided. Expected &quot;</span>,</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;          kNumberOfParameters, <span class="stringliteral">&quot;. Got &quot;</span>, intrinsics.size()));</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;    }</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;    <span class="comment">// Prepare values.</span></div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;    <span class="keyword">const</span> T&amp; f = intrinsics(0);</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    <span class="keyword">const</span> T&amp; cx = intrinsics(1);</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;    <span class="keyword">const</span> T&amp; cy = intrinsics(2);</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;    <span class="keyword">const</span> T&amp; k1 = intrinsics(3);</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;    <span class="keyword">const</span> T&amp; k2 = intrinsics(4);</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;    <span class="keyword">const</span> T&amp; k3 = intrinsics(5);</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;    <span class="keyword">const</span> T&amp; k4 = intrinsics(6);</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160; </div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;    Eigen::Vector2&lt;T&gt; projection(point.x() / point.z(), point.y() / point.z());</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;    <span class="keyword">const</span> T r = projection.norm();</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;    T s;</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;    <span class="keywordflow">if</span> (r &lt; T(1e-9)) {</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;      <span class="keyword">const</span> T r2 = r * r;</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;      s = T(1.0) + r2 * (k1 - T(1.0/3.0) + r2 * (-k1 + k2 + 0.2));</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;    } <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;      <span class="keyword">const</span> T theta = atan(r);</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;      <span class="keyword">const</span> T theta2 = theta * theta;</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;      <span class="keyword">const</span> T theta_d = theta * (T(1.0) + theta2 *</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;                                 (k1 + theta2 *</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;                                  (k2 + theta2 * (k3 + theta2 * k4))));</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;      s = theta_d / r;</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;    }</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;    <span class="comment">// Apply radial distortion.</span></div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;    projection *= s;</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;    <span class="comment">// Apply pinhole parameters.</span></div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;    projection *= f;</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;    projection.x() += cx;</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;    projection.y() += cy;</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;    <span class="keywordflow">return</span> projection;</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;  }</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160; </div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;  <span class="comment">// TODO(yangjames): Unproject is not that great for KB model :( it takes 100</span></div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;  <span class="comment">// Newton iterations to get down to 1e-9, converges way too slowly. Figure out</span></div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;  <span class="comment">// why this is.</span></div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00479"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1KannalaBrandtModel.html#acaa2402b38fe11f49e54f18c3b775fa9">  479</a></span>&#160;  <span class="keyword">static</span> absl::StatusOr&lt;Eigen::Vector3&lt;T&gt;&gt; <a class="code" href="classcalico_1_1sensors_1_1KannalaBrandtModel.html#acaa2402b38fe11f49e54f18c3b775fa9">UnprojectPixel</a>(</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;      <span class="keyword">const</span> Eigen::VectorX&lt;T&gt;&amp; intrinsics,</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;      <span class="keyword">const</span> Eigen::Vector2&lt;T&gt;&amp; pixel,</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;      <span class="keywordtype">int</span> max_iterations = 100) {</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;    constexpr T kSmallValue = T(1e-14);</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;    constexpr T kSmallR = T(1e-9);</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;    <span class="keywordflow">if</span> (intrinsics.size() != kNumberOfParameters) {</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;      <span class="keywordflow">return</span> absl::InvalidArgumentError(absl::StrCat(</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;          <span class="stringliteral">&quot;Expected &quot;</span>, kNumberOfParameters, <span class="stringliteral">&quot; parameters for intrinsics. Got &quot;</span>,</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;          intrinsics.size()));</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;    }</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;    <span class="keyword">const</span> T&amp; f = intrinsics(0);</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;    <span class="keyword">const</span> T&amp; cx = intrinsics(1);</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;    <span class="keyword">const</span> T&amp; cy = intrinsics(2);</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;    <span class="keyword">const</span> T&amp; k1 = intrinsics(3);</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;    <span class="keyword">const</span> T&amp; k2 = intrinsics(4);</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;    <span class="keyword">const</span> T&amp; k3 = intrinsics(5);</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;    <span class="keyword">const</span> T&amp; k4 = intrinsics(6);</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;    <span class="keyword">const</span> T inv_f = T(1.0) / f;</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;    <span class="comment">// Invert pinhole model from distorted point.</span></div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;    <span class="keyword">const</span> T xd0 = inv_f * (pixel.x() - cx);</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;    <span class="keyword">const</span> T yd0 = inv_f * (pixel.y() - cy);</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;    <span class="comment">// If pixel is already close to the origin, no need to continue.</span></div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;    <span class="keywordflow">if</span> (xd0 * xd0 + yd0 * yd0 &lt; kSmallValue) {</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;      <span class="keywordflow">return</span> Eigen::Vector3&lt;T&gt;(xd0, yd0, 1.0);</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;    }</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;    <span class="comment">// Set distorted pixel as initial guess.</span></div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;    T x = xd0;</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;    T y = yd0;</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;    <span class="comment">// Run Newton&#39;s method on the residual of distorted pixel.</span></div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; max_iterations; ++i) {</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;      <span class="keyword">const</span> T r2 = x * x + y * y;</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;      <span class="keyword">const</span> T r = sqrt(r2);</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;      T s;</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;      <span class="keywordflow">if</span> (r &lt; kSmallR) {</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;        <span class="keyword">const</span> T r2 = r * r;</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;        s = T(1.0) + r2 * (k1 - T(1.0/3.0) + r2 * (-k1 + k2 + 0.2));</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;      } <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;        <span class="keyword">const</span> T theta = atan(r);</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;        <span class="keyword">const</span> T theta2 = theta * theta;</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;        <span class="keyword">const</span> T theta_d = theta * (T(1.0) + theta2 *</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;                                   (k1 + theta2 *</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;                                    (k2 + theta2 * (k3 + theta2 * k4))));</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;        s = theta_d / r;</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;      }</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;      <span class="keyword">const</span> T err_x = xd0 - s * x;</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;      <span class="keyword">const</span> T err_y = yd0 - s * y;</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;      <span class="comment">// If residual is small enough, exit early.</span></div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;      <span class="keywordflow">if</span> (std::abs(err_x) + std::abs(err_y) &lt; kSmallValue) {</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;      }</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;      <span class="comment">// Compute Jacobian:</span></div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;      <span class="comment">// J = [a, b]</span></div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;      <span class="comment">//     [b, c]</span></div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;      T a, b, c;</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;      <span class="comment">// If small r, use 3rd order Taylor expansion instead.</span></div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;      <span class="keywordflow">if</span> (r &lt; kSmallR) {</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;        <span class="keyword">const</span> T q = T(2.0) * (k1 - T(1.0 / 3.0)) + T(4.0) * r2 * (-k1 + k2 + T(0.2));</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;        <span class="keyword">const</span> T dsdx = q * x;</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;        <span class="keyword">const</span> T dsdy = q * y;</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;        a = dsdx * x + s;</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;        b = q * x * y;</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;        c = dsdy * y + s;</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;      } <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;        <span class="keyword">const</span> T theta = atan(r);</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;        <span class="keyword">const</span> T theta2 = theta * theta;</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;        <span class="keyword">const</span> T theta_d = theta * (1.0 + theta2 *</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;                                   (k1 + theta2 *</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;                                    (k2 + theta2 * (k3 + theta2 * k4))));</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;        <span class="keyword">const</span> T s = theta_d / r;</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160; </div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;        <span class="keyword">const</span> T drdx = x / r;</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;        <span class="keyword">const</span> T drdy = y / r;</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;        <span class="keyword">const</span> T inv_r = T(1.0) / r;</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;        <span class="keyword">const</span> T dthetadr = T(1.0) / (T(1.0) + r2);</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;        <span class="keyword">const</span> T dthetaddtheta =</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;          T(1.0) + theta2 * (T(3.0) * k1 + theta2 *</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;                             (T(5.0) * k2 + theta2 *</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;                              (T(7.0) * k3 + theta2 * T(9.0) * k4)));</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;        <span class="keyword">const</span> T dthetaddr = dthetaddtheta * dthetadr;</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;        <span class="keyword">const</span> T dsdr = dthetaddr*inv_r + s * inv_r;</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;        a = dsdr * drdx * x + s;</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;        b = dsdr * x * y / r;</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;        c = dsdr * drdy * y + s;</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;      }</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;      <span class="comment">// Invert Jacobian;</span></div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;      <span class="keyword">const</span> T det = T(1.0) / (a * c - b * b);</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;      <span class="keywordflow">if</span> (std::isnan(det)) {</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;        std::cout &lt;&lt; <span class="stringliteral">&quot;r: &quot;</span> &lt;&lt; r &lt;&lt; std::endl;</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;        std::cout &lt;&lt; <span class="stringliteral">&quot;a, b, c: &quot;</span> &lt;&lt; a &lt;&lt; <span class="stringliteral">&quot;, &quot;</span> &lt;&lt; b &lt;&lt; <span class="stringliteral">&quot;, &quot;</span> &lt;&lt; c &lt;&lt; std::endl;</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;        std::cout &lt;&lt; <span class="stringliteral">&quot;det: &quot;</span> &lt;&lt; det &lt;&lt; std::endl;</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;      }</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;      <span class="keyword">const</span> T alpha = det * c;</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;      <span class="keyword">const</span> T beta = -det * b;</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;      <span class="keyword">const</span> T gamma = det * a;</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;      <span class="comment">// Apply update.</span></div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;      x = x + (alpha * err_x + beta * err_y);</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;      y = y + (beta * err_x + gamma * err_y);</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;    }</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;    Eigen::Vector3&lt;T&gt; bearing_vector(x, y, 1);</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;    bearing_vector.normalize();</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;    <span class="keywordflow">return</span> bearing_vector;</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;  }</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160; </div>
<div class="line"><a name="l00583"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1KannalaBrandtModel.html#a281d7e03c171bf972fe5cf18f8bb69f7">  583</a></span>&#160;  <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2f">CameraIntrinsicsModel</a> <a class="code" href="classcalico_1_1sensors_1_1KannalaBrandtModel.html#a281d7e03c171bf972fe5cf18f8bb69f7">GetType</a>() const final {</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;    <span class="keywordflow">return</span> kModelType;</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;  }</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160; </div>
<div class="line"><a name="l00587"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1KannalaBrandtModel.html#a8f1cd503c0719cc9b3f2f8ea3dc18043">  587</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcalico_1_1sensors_1_1KannalaBrandtModel.html#a8f1cd503c0719cc9b3f2f8ea3dc18043">NumberOfParameters</a>() const final {</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;    <span class="keywordflow">return</span> kNumberOfParameters;</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;  }</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;};</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160; </div>
<div class="line"><a name="l00596"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1DoubleSphereModel.html">  596</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcalico_1_1sensors_1_1DoubleSphereModel.html">DoubleSphereModel</a> : <span class="keyword">public</span> <a class="code" href="classcalico_1_1sensors_1_1CameraModel.html">CameraModel</a> {</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> kNumberOfParameters = 5;</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;  <span class="keyword">static</span> constexpr <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2f">CameraIntrinsicsModel</a> kModelType = <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2faff638d15c8b2b0f612376181393188fd">CameraIntrinsicsModel::kDoubleSphere</a>;</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160; </div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;  <a class="code" href="classcalico_1_1sensors_1_1DoubleSphereModel.html">DoubleSphereModel</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;  ~<a class="code" href="classcalico_1_1sensors_1_1DoubleSphereModel.html">DoubleSphereModel</a>() <span class="keyword">override</span> = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;  <a class="code" href="classcalico_1_1sensors_1_1DoubleSphereModel.html">DoubleSphereModel</a>&amp; operator=(<span class="keyword">const</span> <a class="code" href="classcalico_1_1sensors_1_1DoubleSphereModel.html">DoubleSphereModel</a>&amp;) = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160; </div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00623"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1DoubleSphereModel.html#a911a3897069d2b40686bb79a13730fda">  623</a></span>&#160;  <span class="keyword">static</span> absl::StatusOr&lt;Eigen::Vector2&lt;T&gt;&gt; <a class="code" href="classcalico_1_1sensors_1_1DoubleSphereModel.html#a911a3897069d2b40686bb79a13730fda">ProjectPoint</a>(</div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;      <span class="keyword">const</span> Eigen::VectorX&lt;T&gt;&amp; intrinsics,</div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;      <span class="keyword">const</span> Eigen::Vector3&lt;T&gt;&amp; point) {</div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;    <span class="keywordflow">if</span> (intrinsics.size() != kNumberOfParameters) {</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;      <span class="keywordflow">return</span> absl::InvalidArgumentError(absl::StrCat(</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;          <span class="stringliteral">&quot;Invalid number of intrinsics parameters provided. Expected &quot;</span>,</div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;          kNumberOfParameters, <span class="stringliteral">&quot;. Got &quot;</span>, intrinsics.size()));</div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;    }</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;    <span class="keyword">const</span> T&amp; xi = intrinsics(3);</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;    <span class="keyword">const</span> T&amp; alpha = intrinsics(4);</div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;    <span class="keyword">const</span> T w1 = alpha &gt; T(0.5) ?</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;        (T(1.0) - alpha) / alpha : alpha / (T(1.0) - alpha);</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;    <span class="keyword">const</span> T num = w1 + xi;</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;    <span class="keyword">const</span> T w2_sq = num * num / (T(2.0) * w1 * xi + xi * xi + T(1.0));</div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;    <span class="keyword">const</span> T r2 = point.squaredNorm();</div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;    <span class="keywordflow">if</span> (point.z() * point.z() &lt;= -w2_sq * r2) {</div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;      <span class="keywordflow">return</span> absl::InvalidArgumentError(</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;          <span class="stringliteral">&quot;Invalid point. Cannot project.&quot;</span>);</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;    }</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;    <span class="comment">// Prepare values.</span></div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;    <span class="keyword">const</span> T&amp; f = intrinsics(0);</div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;    <span class="keyword">const</span> T&amp; cx = intrinsics(1);</div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;    <span class="keyword">const</span> T&amp; cy = intrinsics(2);</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;    <span class="keyword">const</span> T r = sqrt(r2);</div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;    <span class="keyword">const</span> T d = sqrt(r2 * (T(1.0) + xi * xi) + T(2.0) * xi * r * point.z());</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;    <span class="keyword">const</span> T s = T(1.0) / (alpha * d + (T(1.0) - alpha) * (xi * r + point.z()));</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;    <span class="comment">// Apply distortion.</span></div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;    Eigen::Vector2&lt;T&gt; projection(point.x(), point.y());</div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;    projection *= s;</div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;    <span class="comment">// Apply pinhole parameters.</span></div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;    projection *= f;</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;    projection.x() += cx;</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;    projection.y() += cy;</div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;    <span class="keywordflow">return</span> projection;</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;  }</div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160; </div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00674"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1DoubleSphereModel.html#a032d0e2b98603b2ac675e4730295588a">  674</a></span>&#160;  <span class="keyword">static</span> absl::StatusOr&lt;Eigen::Vector3&lt;T&gt;&gt; <a class="code" href="classcalico_1_1sensors_1_1DoubleSphereModel.html#a032d0e2b98603b2ac675e4730295588a">UnprojectPixel</a>(</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;      <span class="keyword">const</span> Eigen::VectorX&lt;T&gt;&amp; intrinsics,</div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;      <span class="keyword">const</span> Eigen::Vector2&lt;T&gt;&amp; pixel) {</div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;    <span class="keywordflow">if</span> (intrinsics.size() != kNumberOfParameters) {</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;      <span class="keywordflow">return</span> absl::InvalidArgumentError(absl::StrCat(</div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;          <span class="stringliteral">&quot;Expected &quot;</span>, kNumberOfParameters, <span class="stringliteral">&quot; parameters for intrinsics. Got &quot;</span>,</div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;          intrinsics.size()));</div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;    }</div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;    <span class="keyword">const</span> T&amp; f = intrinsics(0);</div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;    <span class="keyword">const</span> T&amp; cx = intrinsics(1);</div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;    <span class="keyword">const</span> T&amp; cy = intrinsics(2);</div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;    <span class="keyword">const</span> T&amp; xi = intrinsics(3);</div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;    <span class="keyword">const</span> T&amp; alpha = intrinsics(4);</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;    <span class="keyword">const</span> T inv_f = T(1.0) / f;</div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;    <span class="comment">// Invert pinhole model from distorted point.</span></div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;    T mx = inv_f * (pixel.x() - cx);</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;    T my = inv_f * (pixel.y() - cy);</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;    <span class="comment">// Invert distortion.</span></div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;    <span class="keyword">const</span> T r2 = mx * mx + my * my;</div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;    T mz =</div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;        (1.0 - alpha * alpha * r2) /</div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;        (alpha * sqrt(1.0 - (2.0 * alpha - 1.0) * r2) + 1.0 - alpha);</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;    <span class="keyword">const</span> T mz2 = mz * mz;</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;    <span class="keyword">const</span> T inv_s = (mz * xi + sqrt(mz2 + (1 - xi * xi) * r2)) / (mz2 + r2);</div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;    Eigen::Vector3&lt;T&gt; bearing_vector(inv_s * mx, inv_s * my, inv_s * mz - xi);</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;    bearing_vector.normalize();</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;    <span class="keywordflow">return</span> bearing_vector;</div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;  }</div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160; </div>
<div class="line"><a name="l00703"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1DoubleSphereModel.html#a9a567916e1aa137c22fca5ad36eb573a">  703</a></span>&#160;  <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2f">CameraIntrinsicsModel</a> <a class="code" href="classcalico_1_1sensors_1_1DoubleSphereModel.html#a9a567916e1aa137c22fca5ad36eb573a">GetType</a>() const final {</div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;    <span class="keywordflow">return</span> kModelType;</div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;  }</div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160; </div>
<div class="line"><a name="l00707"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1DoubleSphereModel.html#afc9cae152ae02f4aa347d92bab1144fa">  707</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcalico_1_1sensors_1_1DoubleSphereModel.html#afc9cae152ae02f4aa347d92bab1144fa">NumberOfParameters</a>() const final {</div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;    <span class="keywordflow">return</span> kNumberOfParameters;</div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;  }</div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;};</div>
<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160; </div>
<div class="line"><a name="l00716"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1FieldOfViewModel.html">  716</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcalico_1_1sensors_1_1FieldOfViewModel.html">FieldOfViewModel</a> : <span class="keyword">public</span> <a class="code" href="classcalico_1_1sensors_1_1CameraModel.html">CameraModel</a> {</div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> kNumberOfParameters = 4;</div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;  <span class="keyword">static</span> constexpr <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2f">CameraIntrinsicsModel</a> kModelType = <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2fadfc7df0f7b103737f5161a57e8f57c34">CameraIntrinsicsModel::kFieldOfView</a>;</div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160; </div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;  <a class="code" href="classcalico_1_1sensors_1_1FieldOfViewModel.html">FieldOfViewModel</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;  ~<a class="code" href="classcalico_1_1sensors_1_1FieldOfViewModel.html">FieldOfViewModel</a>() <span class="keyword">override</span> = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;  <a class="code" href="classcalico_1_1sensors_1_1FieldOfViewModel.html">FieldOfViewModel</a>&amp; operator=(<span class="keyword">const</span> <a class="code" href="classcalico_1_1sensors_1_1FieldOfViewModel.html">FieldOfViewModel</a>&amp;) = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160; </div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00740"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1FieldOfViewModel.html#a32b49ba158ffeda0d8fa8e9054be006c">  740</a></span>&#160;  <span class="keyword">static</span> absl::StatusOr&lt;Eigen::Vector2&lt;T&gt;&gt; <a class="code" href="classcalico_1_1sensors_1_1FieldOfViewModel.html#a32b49ba158ffeda0d8fa8e9054be006c">ProjectPoint</a>(</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;      <span class="keyword">const</span> Eigen::VectorX&lt;T&gt;&amp; intrinsics,</div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;      <span class="keyword">const</span> Eigen::Vector3&lt;T&gt;&amp; point) {</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;    <span class="keywordflow">if</span> (intrinsics.size() != kNumberOfParameters) {</div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;      <span class="keywordflow">return</span> absl::InvalidArgumentError(absl::StrCat(</div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;          <span class="stringliteral">&quot;Invalid number of intrinsics parameters provided. Expected &quot;</span>,</div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;          kNumberOfParameters, <span class="stringliteral">&quot;. Got &quot;</span>, intrinsics.size()));</div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;    }</div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;    <span class="keyword">const</span> T&amp; f = intrinsics(0);</div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;    <span class="keyword">const</span> T&amp; cx = intrinsics(1);</div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;    <span class="keyword">const</span> T&amp; cy = intrinsics(2);</div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;    <span class="keyword">const</span> T&amp; w = intrinsics(3);</div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;    <span class="keywordflow">if</span> (point.z() &lt;= T(0.0)) {</div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;      <span class="keywordflow">return</span> absl::InvalidArgumentError(</div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;          <span class="stringliteral">&quot;Invalid point. Cannot project.&quot;</span>);</div>
<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;    }</div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;    <span class="comment">// Prepare values.</span></div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;    Eigen::Vector2&lt;T&gt; projection(point.x(), point.y());</div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;    projection /= point.z();</div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;    <span class="keyword">const</span> T r = projection.norm();</div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160; </div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;    T s;</div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;    <span class="keywordflow">if</span> (w * w  &lt; 1e-5) {</div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;      <span class="comment">// When w approaches 0.</span></div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;      s = T(1.0);</div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;    } <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;      <span class="keyword">const</span> T tan_term = T(2.0) * tan(w * T(0.5));</div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;      <span class="keywordflow">if</span> (r * r &lt; 1e-5) {</div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;        <span class="comment">// For when r approaches 0.</span></div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;        s = tan_term / w;</div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;      } <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;        s = atan(r * tan_term) / (r * w);</div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;      }</div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;    }</div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;    <span class="comment">// Apply distortion.</span></div>
<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;    projection *= s;</div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;    <span class="comment">// Apply pinhole parameters.</span></div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;    projection *= f;</div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;    projection.x() += cx;</div>
<div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;    projection.y() += cy;</div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;    <span class="keywordflow">return</span> projection;</div>
<div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;  }</div>
<div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160; </div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00798"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1FieldOfViewModel.html#ae83d5a0e11ce41216826ce49456ff1bd">  798</a></span>&#160;  <span class="keyword">static</span> absl::StatusOr&lt;Eigen::Vector3&lt;T&gt;&gt; <a class="code" href="classcalico_1_1sensors_1_1FieldOfViewModel.html#ae83d5a0e11ce41216826ce49456ff1bd">UnprojectPixel</a>(</div>
<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;      <span class="keyword">const</span> Eigen::VectorX&lt;T&gt;&amp; intrinsics,</div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;      <span class="keyword">const</span> Eigen::Vector2&lt;T&gt;&amp; pixel) {</div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;    <span class="keywordflow">if</span> (intrinsics.size() != kNumberOfParameters) {</div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;      <span class="keywordflow">return</span> absl::InvalidArgumentError(absl::StrCat(</div>
<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;          <span class="stringliteral">&quot;Expected &quot;</span>, kNumberOfParameters, <span class="stringliteral">&quot; parameters for intrinsics. Got &quot;</span>,</div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;          intrinsics.size()));</div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160;    }</div>
<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;    <span class="keyword">const</span> T&amp; f = intrinsics(0);</div>
<div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;    <span class="keyword">const</span> T&amp; cx = intrinsics(1);</div>
<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;    <span class="keyword">const</span> T&amp; cy = intrinsics(2);</div>
<div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;    <span class="keyword">const</span> T&amp; w = intrinsics(3);</div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;    <span class="keyword">const</span> T inv_f = T(1.0) / f;</div>
<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;    <span class="comment">// Invert pinhole model from distorted point.</span></div>
<div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;    <span class="keyword">const</span> T mx = inv_f * (pixel.x() - cx);</div>
<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;    <span class="keyword">const</span> T my = inv_f * (pixel.y() - cy);</div>
<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;    <span class="comment">// Undistort.</span></div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;    <span class="keyword">const</span> T r = sqrt(mx * mx + my * my);</div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;    T eta;</div>
<div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;    <span class="keywordflow">if</span> (w * w &lt; 1e-5) {</div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;      <span class="comment">// Limit as w approaches 0.</span></div>
<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;      eta = T(1.0);</div>
<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;    } <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;      <span class="keyword">const</span> T tan_term = T(2.0) * tan(w * T(0.5));</div>
<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;      <span class="keywordflow">if</span> (r * r &lt; 1e-5) {</div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;        <span class="comment">// Limit as r approaches 0.</span></div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;        eta = w / tan_term;</div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;      } <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;        eta = sin(r * w) / (r * tan_term);</div>
<div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;      }</div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;    }</div>
<div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160;    Eigen::Vector3&lt;T&gt; pm(eta * mx, eta * my, cos(r * w));</div>
<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;    pm.normalize();</div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;    <span class="keywordflow">return</span> pm;</div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;  }</div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160; </div>
<div class="line"><a name="l00834"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1FieldOfViewModel.html#a3b0c18a5fc0d7c14ff350a0aa828ae83">  834</a></span>&#160;  <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2f">CameraIntrinsicsModel</a> <a class="code" href="classcalico_1_1sensors_1_1FieldOfViewModel.html#a3b0c18a5fc0d7c14ff350a0aa828ae83">GetType</a>() const final {</div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;    <span class="keywordflow">return</span> kModelType;</div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;  }</div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160; </div>
<div class="line"><a name="l00838"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1FieldOfViewModel.html#a6fff8ec0495ed3a69ec2e2c0d229dd80">  838</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcalico_1_1sensors_1_1FieldOfViewModel.html#a6fff8ec0495ed3a69ec2e2c0d229dd80">NumberOfParameters</a>() const final {</div>
<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160;    <span class="keywordflow">return</span> kNumberOfParameters;</div>
<div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160;  }</div>
<div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160;};</div>
<div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160; </div>
<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160; </div>
<div class="line"><a name="l00848"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1UnifiedCameraModel.html">  848</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcalico_1_1sensors_1_1UnifiedCameraModel.html">UnifiedCameraModel</a> : <span class="keyword">public</span> <a class="code" href="classcalico_1_1sensors_1_1CameraModel.html">CameraModel</a> {</div>
<div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> kNumberOfParameters = 4;</div>
<div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160;  <span class="keyword">static</span> constexpr <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2f">CameraIntrinsicsModel</a> kModelType = <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2fad503d78b33140ff594ed435baf9ea03c">CameraIntrinsicsModel::kUnifiedCamera</a>;</div>
<div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160; </div>
<div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160;  <a class="code" href="classcalico_1_1sensors_1_1UnifiedCameraModel.html">UnifiedCameraModel</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00854"></a><span class="lineno">  854</span>&#160;  ~<a class="code" href="classcalico_1_1sensors_1_1UnifiedCameraModel.html">UnifiedCameraModel</a>() <span class="keyword">override</span> = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00855"></a><span class="lineno">  855</span>&#160;  <a class="code" href="classcalico_1_1sensors_1_1UnifiedCameraModel.html">UnifiedCameraModel</a>&amp; operator=(<span class="keyword">const</span> <a class="code" href="classcalico_1_1sensors_1_1UnifiedCameraModel.html">UnifiedCameraModel</a>&amp;) = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00856"></a><span class="lineno">  856</span>&#160; </div>
<div class="line"><a name="l00871"></a><span class="lineno">  871</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00872"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1UnifiedCameraModel.html#ac9dfa3ba030bd1e9c85e3c01deeae3fe">  872</a></span>&#160;  <span class="keyword">static</span> absl::StatusOr&lt;Eigen::Vector2&lt;T&gt;&gt; <a class="code" href="classcalico_1_1sensors_1_1UnifiedCameraModel.html#ac9dfa3ba030bd1e9c85e3c01deeae3fe">ProjectPoint</a>(</div>
<div class="line"><a name="l00873"></a><span class="lineno">  873</span>&#160;      <span class="keyword">const</span> Eigen::VectorX&lt;T&gt;&amp; intrinsics,</div>
<div class="line"><a name="l00874"></a><span class="lineno">  874</span>&#160;      <span class="keyword">const</span> Eigen::Vector3&lt;T&gt;&amp; point) {</div>
<div class="line"><a name="l00875"></a><span class="lineno">  875</span>&#160;    <span class="keywordflow">if</span> (intrinsics.size() != kNumberOfParameters) {</div>
<div class="line"><a name="l00876"></a><span class="lineno">  876</span>&#160;      <span class="keywordflow">return</span> absl::InvalidArgumentError(absl::StrCat(</div>
<div class="line"><a name="l00877"></a><span class="lineno">  877</span>&#160;          <span class="stringliteral">&quot;Invalid number of intrinsics parameters provided. Expected &quot;</span>,</div>
<div class="line"><a name="l00878"></a><span class="lineno">  878</span>&#160;          kNumberOfParameters, <span class="stringliteral">&quot;. Got &quot;</span>, intrinsics.size()));</div>
<div class="line"><a name="l00879"></a><span class="lineno">  879</span>&#160;    }</div>
<div class="line"><a name="l00880"></a><span class="lineno">  880</span>&#160;    <span class="keyword">const</span> T&amp; alpha = intrinsics(3);</div>
<div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160;    <span class="keyword">const</span> T w = alpha &gt; T(0.5) ?</div>
<div class="line"><a name="l00882"></a><span class="lineno">  882</span>&#160;      (T(1.0) - alpha) / alpha : alpha / (T(1.0) - alpha);</div>
<div class="line"><a name="l00883"></a><span class="lineno">  883</span>&#160;    <span class="keyword">const</span> T d = point.norm();</div>
<div class="line"><a name="l00884"></a><span class="lineno">  884</span>&#160;    <span class="keywordflow">if</span> (point.z() &lt;= -w * d) {</div>
<div class="line"><a name="l00885"></a><span class="lineno">  885</span>&#160;      <span class="keywordflow">return</span> absl::InvalidArgumentError(</div>
<div class="line"><a name="l00886"></a><span class="lineno">  886</span>&#160;          <span class="stringliteral">&quot;Invalid point. Cannot project.&quot;</span>);</div>
<div class="line"><a name="l00887"></a><span class="lineno">  887</span>&#160;    }</div>
<div class="line"><a name="l00888"></a><span class="lineno">  888</span>&#160;    <span class="keyword">const</span> T&amp; f = intrinsics(0);</div>
<div class="line"><a name="l00889"></a><span class="lineno">  889</span>&#160;    <span class="keyword">const</span> T&amp; cx = intrinsics(1);</div>
<div class="line"><a name="l00890"></a><span class="lineno">  890</span>&#160;    <span class="keyword">const</span> T&amp; cy = intrinsics(2);</div>
<div class="line"><a name="l00891"></a><span class="lineno">  891</span>&#160;    <span class="comment">// Prepare values.</span></div>
<div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160;    Eigen::Vector2&lt;T&gt; projection(point.x(), point.y());</div>
<div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160;    T s = T(1.0) / (alpha * d + (T(1.0) - alpha) * point.z());</div>
<div class="line"><a name="l00894"></a><span class="lineno">  894</span>&#160;    <span class="comment">// Apply distortion.</span></div>
<div class="line"><a name="l00895"></a><span class="lineno">  895</span>&#160;    projection *= s;</div>
<div class="line"><a name="l00896"></a><span class="lineno">  896</span>&#160;    <span class="comment">// Apply pinhole parameters.</span></div>
<div class="line"><a name="l00897"></a><span class="lineno">  897</span>&#160;    projection *= f;</div>
<div class="line"><a name="l00898"></a><span class="lineno">  898</span>&#160;    projection.x() += cx;</div>
<div class="line"><a name="l00899"></a><span class="lineno">  899</span>&#160;    projection.y() += cy;</div>
<div class="line"><a name="l00900"></a><span class="lineno">  900</span>&#160;    <span class="keywordflow">return</span> projection;</div>
<div class="line"><a name="l00901"></a><span class="lineno">  901</span>&#160;  }</div>
<div class="line"><a name="l00902"></a><span class="lineno">  902</span>&#160; </div>
<div class="line"><a name="l00919"></a><span class="lineno">  919</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00920"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1UnifiedCameraModel.html#aeb14d14f836f56bd0cab2b0b00668356">  920</a></span>&#160;  <span class="keyword">static</span> absl::StatusOr&lt;Eigen::Vector3&lt;T&gt;&gt; <a class="code" href="classcalico_1_1sensors_1_1UnifiedCameraModel.html#aeb14d14f836f56bd0cab2b0b00668356">UnprojectPixel</a>(</div>
<div class="line"><a name="l00921"></a><span class="lineno">  921</span>&#160;      <span class="keyword">const</span> Eigen::VectorX&lt;T&gt;&amp; intrinsics,</div>
<div class="line"><a name="l00922"></a><span class="lineno">  922</span>&#160;      <span class="keyword">const</span> Eigen::Vector2&lt;T&gt;&amp; pixel) {</div>
<div class="line"><a name="l00923"></a><span class="lineno">  923</span>&#160;    <span class="keywordflow">if</span> (intrinsics.size() != kNumberOfParameters) {</div>
<div class="line"><a name="l00924"></a><span class="lineno">  924</span>&#160;      <span class="keywordflow">return</span> absl::InvalidArgumentError(absl::StrCat(</div>
<div class="line"><a name="l00925"></a><span class="lineno">  925</span>&#160;          <span class="stringliteral">&quot;Expected &quot;</span>, kNumberOfParameters, <span class="stringliteral">&quot; parameters for intrinsics. Got &quot;</span>,</div>
<div class="line"><a name="l00926"></a><span class="lineno">  926</span>&#160;          intrinsics.size()));</div>
<div class="line"><a name="l00927"></a><span class="lineno">  927</span>&#160;    }</div>
<div class="line"><a name="l00928"></a><span class="lineno">  928</span>&#160;    <span class="keyword">const</span> T&amp; f = intrinsics(0);</div>
<div class="line"><a name="l00929"></a><span class="lineno">  929</span>&#160;    <span class="keyword">const</span> T&amp; cx = intrinsics(1);</div>
<div class="line"><a name="l00930"></a><span class="lineno">  930</span>&#160;    <span class="keyword">const</span> T&amp; cy = intrinsics(2);</div>
<div class="line"><a name="l00931"></a><span class="lineno">  931</span>&#160;    <span class="keyword">const</span> T&amp; alpha = intrinsics(3);</div>
<div class="line"><a name="l00932"></a><span class="lineno">  932</span>&#160;    <span class="keyword">const</span> T inv_f = T(1.0) / f;</div>
<div class="line"><a name="l00933"></a><span class="lineno">  933</span>&#160;    <span class="comment">// Invert pinhole model from distorted point.</span></div>
<div class="line"><a name="l00934"></a><span class="lineno">  934</span>&#160;    <span class="keyword">const</span> T one_m_alpha = T(1.0) - alpha;</div>
<div class="line"><a name="l00935"></a><span class="lineno">  935</span>&#160;    <span class="keyword">const</span> T mx = one_m_alpha * inv_f * (pixel.x() - cx);</div>
<div class="line"><a name="l00936"></a><span class="lineno">  936</span>&#160;    <span class="keyword">const</span> T my = one_m_alpha * inv_f * (pixel.y() - cy);</div>
<div class="line"><a name="l00937"></a><span class="lineno">  937</span>&#160;    <span class="keyword">const</span> T r2 = mx * mx + my * my;</div>
<div class="line"><a name="l00938"></a><span class="lineno">  938</span>&#160;    <span class="keyword">const</span> T xi = alpha / one_m_alpha;</div>
<div class="line"><a name="l00939"></a><span class="lineno">  939</span>&#160;    <span class="comment">// Undistort.</span></div>
<div class="line"><a name="l00940"></a><span class="lineno">  940</span>&#160;    <span class="keyword">const</span> T s = (xi + sqrt(T(1.0) + (T(1.0) - xi * xi) * r2)) / (T(1.0) + r2);</div>
<div class="line"><a name="l00941"></a><span class="lineno">  941</span>&#160;    Eigen::Vector3d bearing_vector(mx, my, 1.0);</div>
<div class="line"><a name="l00942"></a><span class="lineno">  942</span>&#160;    bearing_vector *= s;</div>
<div class="line"><a name="l00943"></a><span class="lineno">  943</span>&#160;    bearing_vector.z() -= xi;</div>
<div class="line"><a name="l00944"></a><span class="lineno">  944</span>&#160;    bearing_vector.normalize();</div>
<div class="line"><a name="l00945"></a><span class="lineno">  945</span>&#160;    <span class="keywordflow">return</span> bearing_vector;</div>
<div class="line"><a name="l00946"></a><span class="lineno">  946</span>&#160;  }</div>
<div class="line"><a name="l00947"></a><span class="lineno">  947</span>&#160; </div>
<div class="line"><a name="l00948"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1UnifiedCameraModel.html#a2be1cb30458a922f4617519b9ca8d3d5">  948</a></span>&#160;  <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2f">CameraIntrinsicsModel</a> <a class="code" href="classcalico_1_1sensors_1_1UnifiedCameraModel.html#a2be1cb30458a922f4617519b9ca8d3d5">GetType</a>() const final {</div>
<div class="line"><a name="l00949"></a><span class="lineno">  949</span>&#160;    <span class="keywordflow">return</span> kModelType;</div>
<div class="line"><a name="l00950"></a><span class="lineno">  950</span>&#160;  }</div>
<div class="line"><a name="l00951"></a><span class="lineno">  951</span>&#160; </div>
<div class="line"><a name="l00952"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1UnifiedCameraModel.html#a5b40e5ca2c182674bed0a4b897ce4e77">  952</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcalico_1_1sensors_1_1UnifiedCameraModel.html#a5b40e5ca2c182674bed0a4b897ce4e77">NumberOfParameters</a>() const final {</div>
<div class="line"><a name="l00953"></a><span class="lineno">  953</span>&#160;    <span class="keywordflow">return</span> kNumberOfParameters;</div>
<div class="line"><a name="l00954"></a><span class="lineno">  954</span>&#160;  }</div>
<div class="line"><a name="l00955"></a><span class="lineno">  955</span>&#160;};</div>
<div class="line"><a name="l00956"></a><span class="lineno">  956</span>&#160; </div>
<div class="line"><a name="l00961"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1ExtendedUnifiedCameraModel.html">  961</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcalico_1_1sensors_1_1ExtendedUnifiedCameraModel.html">ExtendedUnifiedCameraModel</a> : <span class="keyword">public</span> <a class="code" href="classcalico_1_1sensors_1_1CameraModel.html">CameraModel</a> {</div>
<div class="line"><a name="l00962"></a><span class="lineno">  962</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00963"></a><span class="lineno">  963</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> kNumberOfParameters = 5;</div>
<div class="line"><a name="l00964"></a><span class="lineno">  964</span>&#160;  <span class="keyword">static</span> constexpr <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2f">CameraIntrinsicsModel</a> kModelType = <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2fa2595f2f448ef0344029c159851eca78d">CameraIntrinsicsModel::kExtendedUnifiedCamera</a>;</div>
<div class="line"><a name="l00965"></a><span class="lineno">  965</span>&#160; </div>
<div class="line"><a name="l00966"></a><span class="lineno">  966</span>&#160;  <a class="code" href="classcalico_1_1sensors_1_1ExtendedUnifiedCameraModel.html">ExtendedUnifiedCameraModel</a>() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00967"></a><span class="lineno">  967</span>&#160;  ~<a class="code" href="classcalico_1_1sensors_1_1ExtendedUnifiedCameraModel.html">ExtendedUnifiedCameraModel</a>() <span class="keyword">override</span> = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00968"></a><span class="lineno">  968</span>&#160;  <a class="code" href="classcalico_1_1sensors_1_1ExtendedUnifiedCameraModel.html">ExtendedUnifiedCameraModel</a>&amp; operator=(<span class="keyword">const</span> <a class="code" href="classcalico_1_1sensors_1_1ExtendedUnifiedCameraModel.html">ExtendedUnifiedCameraModel</a>&amp;) = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00969"></a><span class="lineno">  969</span>&#160; </div>
<div class="line"><a name="l00984"></a><span class="lineno">  984</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00985"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1ExtendedUnifiedCameraModel.html#aef9842b6bb3ea901085c911db6e8126f">  985</a></span>&#160;  <span class="keyword">static</span> absl::StatusOr&lt;Eigen::Vector2&lt;T&gt;&gt; <a class="code" href="classcalico_1_1sensors_1_1ExtendedUnifiedCameraModel.html#aef9842b6bb3ea901085c911db6e8126f">ProjectPoint</a>(</div>
<div class="line"><a name="l00986"></a><span class="lineno">  986</span>&#160;      <span class="keyword">const</span> Eigen::VectorX&lt;T&gt;&amp; intrinsics,</div>
<div class="line"><a name="l00987"></a><span class="lineno">  987</span>&#160;      <span class="keyword">const</span> Eigen::Vector3&lt;T&gt;&amp; point) {</div>
<div class="line"><a name="l00988"></a><span class="lineno">  988</span>&#160;    <span class="keywordflow">if</span> (intrinsics.size() != kNumberOfParameters) {</div>
<div class="line"><a name="l00989"></a><span class="lineno">  989</span>&#160;      <span class="keywordflow">return</span> absl::InvalidArgumentError(absl::StrCat(</div>
<div class="line"><a name="l00990"></a><span class="lineno">  990</span>&#160;          <span class="stringliteral">&quot;Invalid number of intrinsics parameters provided. Expected &quot;</span>,</div>
<div class="line"><a name="l00991"></a><span class="lineno">  991</span>&#160;          kNumberOfParameters, <span class="stringliteral">&quot;. Got &quot;</span>, intrinsics.size()));</div>
<div class="line"><a name="l00992"></a><span class="lineno">  992</span>&#160;    }</div>
<div class="line"><a name="l00993"></a><span class="lineno">  993</span>&#160;    <span class="keyword">const</span> T&amp; alpha = intrinsics(3);</div>
<div class="line"><a name="l00994"></a><span class="lineno">  994</span>&#160;    <span class="keyword">const</span> T&amp; beta = intrinsics(4);</div>
<div class="line"><a name="l00995"></a><span class="lineno">  995</span>&#160;    <span class="keyword">const</span> T d = sqrt(beta * point.head(2).norm() + point.z() * point.z());</div>
<div class="line"><a name="l00996"></a><span class="lineno">  996</span>&#160;    <span class="keyword">const</span> T w = alpha &gt; T(0.5) ?</div>
<div class="line"><a name="l00997"></a><span class="lineno">  997</span>&#160;      (T(1.0) - alpha) / alpha : alpha / (T(1.0) - alpha);</div>
<div class="line"><a name="l00998"></a><span class="lineno">  998</span>&#160;    <span class="keywordflow">if</span> (point.z() &lt;= -w * d) {</div>
<div class="line"><a name="l00999"></a><span class="lineno">  999</span>&#160;      <span class="keywordflow">return</span> absl::InvalidArgumentError(</div>
<div class="line"><a name="l01000"></a><span class="lineno"> 1000</span>&#160;          <span class="stringliteral">&quot;Invalid point. Cannot project.&quot;</span>);</div>
<div class="line"><a name="l01001"></a><span class="lineno"> 1001</span>&#160;    }</div>
<div class="line"><a name="l01002"></a><span class="lineno"> 1002</span>&#160;    <span class="keyword">const</span> T&amp; f = intrinsics(0);</div>
<div class="line"><a name="l01003"></a><span class="lineno"> 1003</span>&#160;    <span class="keyword">const</span> T&amp; cx = intrinsics(1);</div>
<div class="line"><a name="l01004"></a><span class="lineno"> 1004</span>&#160;    <span class="keyword">const</span> T&amp; cy = intrinsics(2);</div>
<div class="line"><a name="l01005"></a><span class="lineno"> 1005</span>&#160;    <span class="comment">// Prepare values.</span></div>
<div class="line"><a name="l01006"></a><span class="lineno"> 1006</span>&#160;    Eigen::Vector2&lt;T&gt; projection(point.x(), point.y());</div>
<div class="line"><a name="l01007"></a><span class="lineno"> 1007</span>&#160;    T s = T(1.0) / (alpha * d + (T(1.0) - alpha) * point.z());</div>
<div class="line"><a name="l01008"></a><span class="lineno"> 1008</span>&#160;    <span class="comment">// Apply distortion.</span></div>
<div class="line"><a name="l01009"></a><span class="lineno"> 1009</span>&#160;    projection *= s;</div>
<div class="line"><a name="l01010"></a><span class="lineno"> 1010</span>&#160;    <span class="comment">// Apply pinhole parameters.</span></div>
<div class="line"><a name="l01011"></a><span class="lineno"> 1011</span>&#160;    projection *= f;</div>
<div class="line"><a name="l01012"></a><span class="lineno"> 1012</span>&#160;    projection.x() += cx;</div>
<div class="line"><a name="l01013"></a><span class="lineno"> 1013</span>&#160;    projection.y() += cy;</div>
<div class="line"><a name="l01014"></a><span class="lineno"> 1014</span>&#160;    <span class="keywordflow">return</span> projection;</div>
<div class="line"><a name="l01015"></a><span class="lineno"> 1015</span>&#160;  }</div>
<div class="line"><a name="l01016"></a><span class="lineno"> 1016</span>&#160; </div>
<div class="line"><a name="l01025"></a><span class="lineno"> 1025</span>&#160; </div>
<div class="line"><a name="l01035"></a><span class="lineno"> 1035</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l01036"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1ExtendedUnifiedCameraModel.html#a537315af2f2b50d559f59b7a600b6747"> 1036</a></span>&#160;  <span class="keyword">static</span> absl::StatusOr&lt;Eigen::Vector3&lt;T&gt;&gt; <a class="code" href="classcalico_1_1sensors_1_1ExtendedUnifiedCameraModel.html#a537315af2f2b50d559f59b7a600b6747">UnprojectPixel</a>(</div>
<div class="line"><a name="l01037"></a><span class="lineno"> 1037</span>&#160;      <span class="keyword">const</span> Eigen::VectorX&lt;T&gt;&amp; intrinsics,</div>
<div class="line"><a name="l01038"></a><span class="lineno"> 1038</span>&#160;      <span class="keyword">const</span> Eigen::Vector2&lt;T&gt;&amp; pixel) {</div>
<div class="line"><a name="l01039"></a><span class="lineno"> 1039</span>&#160;    <span class="keywordflow">if</span> (intrinsics.size() != kNumberOfParameters) {</div>
<div class="line"><a name="l01040"></a><span class="lineno"> 1040</span>&#160;      <span class="keywordflow">return</span> absl::InvalidArgumentError(absl::StrCat(</div>
<div class="line"><a name="l01041"></a><span class="lineno"> 1041</span>&#160;          <span class="stringliteral">&quot;Expected &quot;</span>, kNumberOfParameters, <span class="stringliteral">&quot; parameters for intrinsics. Got &quot;</span>,</div>
<div class="line"><a name="l01042"></a><span class="lineno"> 1042</span>&#160;          intrinsics.size()));</div>
<div class="line"><a name="l01043"></a><span class="lineno"> 1043</span>&#160;    }</div>
<div class="line"><a name="l01044"></a><span class="lineno"> 1044</span>&#160;    <span class="keyword">const</span> T&amp; f = intrinsics(0);</div>
<div class="line"><a name="l01045"></a><span class="lineno"> 1045</span>&#160;    <span class="keyword">const</span> T&amp; cx = intrinsics(1);</div>
<div class="line"><a name="l01046"></a><span class="lineno"> 1046</span>&#160;    <span class="keyword">const</span> T&amp; cy = intrinsics(2);</div>
<div class="line"><a name="l01047"></a><span class="lineno"> 1047</span>&#160;    <span class="keyword">const</span> T&amp; alpha = intrinsics(3);</div>
<div class="line"><a name="l01048"></a><span class="lineno"> 1048</span>&#160;    <span class="keyword">const</span> T&amp; beta = intrinsics(4);</div>
<div class="line"><a name="l01049"></a><span class="lineno"> 1049</span>&#160;    <span class="keyword">const</span> T inv_f = T(1.0) / f;</div>
<div class="line"><a name="l01050"></a><span class="lineno"> 1050</span>&#160;    <span class="comment">// Invert pinhole model from distorted point.</span></div>
<div class="line"><a name="l01051"></a><span class="lineno"> 1051</span>&#160;    <span class="keyword">const</span> T mx = inv_f * (pixel.x() - cx);</div>
<div class="line"><a name="l01052"></a><span class="lineno"> 1052</span>&#160;    <span class="keyword">const</span> T my = inv_f * (pixel.y() - cy);</div>
<div class="line"><a name="l01053"></a><span class="lineno"> 1053</span>&#160;    <span class="keyword">const</span> T r2 = mx * mx + my * my;</div>
<div class="line"><a name="l01054"></a><span class="lineno"> 1054</span>&#160;    <span class="keyword">const</span> T mz = (T(1.0) - beta * alpha * alpha * r2) /</div>
<div class="line"><a name="l01055"></a><span class="lineno"> 1055</span>&#160;      (alpha * sqrt(T(1.0) - (T(2.0) * alpha - T(1.0)) * beta * r2)</div>
<div class="line"><a name="l01056"></a><span class="lineno"> 1056</span>&#160;       + (T(1.0) - alpha));</div>
<div class="line"><a name="l01057"></a><span class="lineno"> 1057</span>&#160;    <span class="comment">// Undistort.</span></div>
<div class="line"><a name="l01058"></a><span class="lineno"> 1058</span>&#160;    <span class="keyword">const</span> T s = T(1.0) / sqrt(r2 + mz * mz);</div>
<div class="line"><a name="l01059"></a><span class="lineno"> 1059</span>&#160;    Eigen::Vector3d bearing_vector(mx, my, mz);</div>
<div class="line"><a name="l01060"></a><span class="lineno"> 1060</span>&#160;    bearing_vector *= s;</div>
<div class="line"><a name="l01061"></a><span class="lineno"> 1061</span>&#160;    bearing_vector.normalize();</div>
<div class="line"><a name="l01062"></a><span class="lineno"> 1062</span>&#160;    <span class="keywordflow">return</span> bearing_vector;</div>
<div class="line"><a name="l01063"></a><span class="lineno"> 1063</span>&#160;  }</div>
<div class="line"><a name="l01064"></a><span class="lineno"> 1064</span>&#160; </div>
<div class="line"><a name="l01065"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1ExtendedUnifiedCameraModel.html#a5a7ac9b9f7e9ae9219a63c8e9703874e"> 1065</a></span>&#160;  <a class="code" href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2f">CameraIntrinsicsModel</a> <a class="code" href="classcalico_1_1sensors_1_1ExtendedUnifiedCameraModel.html#a5a7ac9b9f7e9ae9219a63c8e9703874e">GetType</a>() const final {</div>
<div class="line"><a name="l01066"></a><span class="lineno"> 1066</span>&#160;    <span class="keywordflow">return</span> kModelType;</div>
<div class="line"><a name="l01067"></a><span class="lineno"> 1067</span>&#160;  }</div>
<div class="line"><a name="l01068"></a><span class="lineno"> 1068</span>&#160; </div>
<div class="line"><a name="l01069"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1ExtendedUnifiedCameraModel.html#a119f81e88f521033c248b167f57f2e50"> 1069</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="classcalico_1_1sensors_1_1ExtendedUnifiedCameraModel.html#a119f81e88f521033c248b167f57f2e50">NumberOfParameters</a>() const final {</div>
<div class="line"><a name="l01070"></a><span class="lineno"> 1070</span>&#160;    <span class="keywordflow">return</span> kNumberOfParameters;</div>
<div class="line"><a name="l01071"></a><span class="lineno"> 1071</span>&#160;  }</div>
<div class="line"><a name="l01072"></a><span class="lineno"> 1072</span>&#160;};</div>
<div class="line"><a name="l01073"></a><span class="lineno"> 1073</span>&#160; </div>
<div class="line"><a name="l01074"></a><span class="lineno"> 1074</span>&#160; </div>
<div class="line"><a name="l01075"></a><span class="lineno"> 1075</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l01076"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1CameraModel.html#af2b6c4e6787815273879f81a216bc84d"> 1076</a></span>&#160;absl::StatusOr&lt;Eigen::Vector2&lt;T&gt;&gt; <a class="code" href="classcalico_1_1sensors_1_1CameraModel.html#af2b6c4e6787815273879f81a216bc84d">CameraModel::ProjectPoint</a>(</div>
<div class="line"><a name="l01077"></a><span class="lineno"> 1077</span>&#160;    <span class="keyword">const</span> Eigen::VectorX&lt;T&gt;&amp; intrinsics,</div>
<div class="line"><a name="l01078"></a><span class="lineno"> 1078</span>&#160;    <span class="keyword">const</span> Eigen::Vector3&lt;T&gt;&amp; point)<span class="keyword"> const </span>{</div>
<div class="line"><a name="l01079"></a><span class="lineno"> 1079</span>&#160;  <span class="keywordflow">if</span> (<span class="keyword">const</span> <span class="keyword">auto</span> derived = <span class="keyword">dynamic_cast&lt;</span><span class="keyword">const </span><a class="code" href="classcalico_1_1sensors_1_1OpenCv5Model.html">OpenCv5Model</a>*<span class="keyword">&gt;</span>(<span class="keyword">this</span>)) {</div>
<div class="line"><a name="l01080"></a><span class="lineno"> 1080</span>&#160;    <span class="keywordflow">return</span> derived-&gt;ProjectPoint(intrinsics, point);</div>
<div class="line"><a name="l01081"></a><span class="lineno"> 1081</span>&#160;  }</div>
<div class="line"><a name="l01082"></a><span class="lineno"> 1082</span>&#160;  <span class="keywordflow">if</span> (<span class="keyword">const</span> <span class="keyword">auto</span> derived = <span class="keyword">dynamic_cast&lt;</span><span class="keyword">const </span><a class="code" href="classcalico_1_1sensors_1_1OpenCv8Model.html">OpenCv8Model</a>*<span class="keyword">&gt;</span>(<span class="keyword">this</span>)) {</div>
<div class="line"><a name="l01083"></a><span class="lineno"> 1083</span>&#160;    <span class="keywordflow">return</span> derived-&gt;ProjectPoint(intrinsics, point);</div>
<div class="line"><a name="l01084"></a><span class="lineno"> 1084</span>&#160;  }</div>
<div class="line"><a name="l01085"></a><span class="lineno"> 1085</span>&#160;  <span class="keywordflow">if</span> (<span class="keyword">const</span> <span class="keyword">auto</span> derived = <span class="keyword">dynamic_cast&lt;</span><span class="keyword">const </span><a class="code" href="classcalico_1_1sensors_1_1KannalaBrandtModel.html">KannalaBrandtModel</a>*<span class="keyword">&gt;</span>(<span class="keyword">this</span>)) {</div>
<div class="line"><a name="l01086"></a><span class="lineno"> 1086</span>&#160;    <span class="keywordflow">return</span> derived-&gt;ProjectPoint(intrinsics, point);</div>
<div class="line"><a name="l01087"></a><span class="lineno"> 1087</span>&#160;  }</div>
<div class="line"><a name="l01088"></a><span class="lineno"> 1088</span>&#160;  <span class="keywordflow">if</span> (<span class="keyword">const</span> <span class="keyword">auto</span> derived = <span class="keyword">dynamic_cast&lt;</span><span class="keyword">const </span><a class="code" href="classcalico_1_1sensors_1_1DoubleSphereModel.html">DoubleSphereModel</a>*<span class="keyword">&gt;</span>(<span class="keyword">this</span>)) {</div>
<div class="line"><a name="l01089"></a><span class="lineno"> 1089</span>&#160;    <span class="keywordflow">return</span> derived-&gt;ProjectPoint(intrinsics, point);</div>
<div class="line"><a name="l01090"></a><span class="lineno"> 1090</span>&#160;  }</div>
<div class="line"><a name="l01091"></a><span class="lineno"> 1091</span>&#160;  <span class="keywordflow">if</span> (<span class="keyword">const</span> <span class="keyword">auto</span> derived = <span class="keyword">dynamic_cast&lt;</span><span class="keyword">const </span><a class="code" href="classcalico_1_1sensors_1_1FieldOfViewModel.html">FieldOfViewModel</a>*<span class="keyword">&gt;</span>(<span class="keyword">this</span>)) {</div>
<div class="line"><a name="l01092"></a><span class="lineno"> 1092</span>&#160;    <span class="keywordflow">return</span> derived-&gt;ProjectPoint(intrinsics, point);</div>
<div class="line"><a name="l01093"></a><span class="lineno"> 1093</span>&#160;  }</div>
<div class="line"><a name="l01094"></a><span class="lineno"> 1094</span>&#160;  <span class="keywordflow">if</span> (<span class="keyword">const</span> <span class="keyword">auto</span> derived = <span class="keyword">dynamic_cast&lt;</span><span class="keyword">const </span><a class="code" href="classcalico_1_1sensors_1_1UnifiedCameraModel.html">UnifiedCameraModel</a>*<span class="keyword">&gt;</span>(<span class="keyword">this</span>)) {</div>
<div class="line"><a name="l01095"></a><span class="lineno"> 1095</span>&#160;    <span class="keywordflow">return</span> derived-&gt;ProjectPoint(intrinsics, point);</div>
<div class="line"><a name="l01096"></a><span class="lineno"> 1096</span>&#160;  }</div>
<div class="line"><a name="l01097"></a><span class="lineno"> 1097</span>&#160;  <span class="keywordflow">if</span> (<span class="keyword">const</span> <span class="keyword">auto</span> derived =</div>
<div class="line"><a name="l01098"></a><span class="lineno"> 1098</span>&#160;          <span class="keyword">dynamic_cast&lt;</span><span class="keyword">const </span><a class="code" href="classcalico_1_1sensors_1_1ExtendedUnifiedCameraModel.html">ExtendedUnifiedCameraModel</a>*<span class="keyword">&gt;</span>(<span class="keyword">this</span>)) {</div>
<div class="line"><a name="l01099"></a><span class="lineno"> 1099</span>&#160;    <span class="keywordflow">return</span> derived-&gt;ProjectPoint(intrinsics, point);</div>
<div class="line"><a name="l01100"></a><span class="lineno"> 1100</span>&#160;  }</div>
<div class="line"><a name="l01101"></a><span class="lineno"> 1101</span>&#160;  <span class="keywordflow">return</span> absl::InvalidArgumentError(absl::StrCat(</div>
<div class="line"><a name="l01102"></a><span class="lineno"> 1102</span>&#160;      <span class="stringliteral">&quot;ProjectPoint for camera model &quot;</span>, this-&gt;<a class="code" href="classcalico_1_1sensors_1_1CameraModel.html#a9384a7307fc7a48d310f361f3b0b4a17">GetType</a>(), <span class="stringliteral">&quot; not supported.&quot;</span>));</div>
<div class="line"><a name="l01103"></a><span class="lineno"> 1103</span>&#160;}</div>
<div class="line"><a name="l01104"></a><span class="lineno"> 1104</span>&#160; </div>
<div class="line"><a name="l01105"></a><span class="lineno"> 1105</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l01106"></a><span class="lineno"><a class="line" href="classcalico_1_1sensors_1_1CameraModel.html#a9724081a0bfba064a65bde83cded5dc9"> 1106</a></span>&#160;absl::StatusOr&lt;Eigen::Vector3&lt;T&gt;&gt; <a class="code" href="classcalico_1_1sensors_1_1CameraModel.html#a9724081a0bfba064a65bde83cded5dc9">CameraModel::UnprojectPixel</a>(</div>
<div class="line"><a name="l01107"></a><span class="lineno"> 1107</span>&#160;    <span class="keyword">const</span> Eigen::VectorX&lt;T&gt;&amp; intrinsics,</div>
<div class="line"><a name="l01108"></a><span class="lineno"> 1108</span>&#160;    <span class="keyword">const</span> Eigen::Vector2&lt;T&gt;&amp; pixel)<span class="keyword"> const </span>{</div>
<div class="line"><a name="l01109"></a><span class="lineno"> 1109</span>&#160;  <span class="keywordflow">if</span> (<span class="keyword">const</span> <span class="keyword">auto</span> derived = <span class="keyword">dynamic_cast&lt;</span><span class="keyword">const </span><a class="code" href="classcalico_1_1sensors_1_1OpenCv5Model.html">OpenCv5Model</a>*<span class="keyword">&gt;</span>(<span class="keyword">this</span>)) {</div>
<div class="line"><a name="l01110"></a><span class="lineno"> 1110</span>&#160;    <span class="keywordflow">return</span> derived-&gt;UnprojectPixel(intrinsics, pixel);</div>
<div class="line"><a name="l01111"></a><span class="lineno"> 1111</span>&#160;  }</div>
<div class="line"><a name="l01112"></a><span class="lineno"> 1112</span>&#160;  <span class="keywordflow">if</span> (<span class="keyword">const</span> <span class="keyword">auto</span> derived = <span class="keyword">dynamic_cast&lt;</span><span class="keyword">const </span><a class="code" href="classcalico_1_1sensors_1_1OpenCv8Model.html">OpenCv8Model</a>*<span class="keyword">&gt;</span>(<span class="keyword">this</span>)) {</div>
<div class="line"><a name="l01113"></a><span class="lineno"> 1113</span>&#160;    <span class="keywordflow">return</span> derived-&gt;UnprojectPixel(intrinsics, pixel);</div>
<div class="line"><a name="l01114"></a><span class="lineno"> 1114</span>&#160;  }</div>
<div class="line"><a name="l01115"></a><span class="lineno"> 1115</span>&#160;  <span class="keywordflow">if</span> (<span class="keyword">const</span> <span class="keyword">auto</span> derived = <span class="keyword">dynamic_cast&lt;</span><span class="keyword">const </span><a class="code" href="classcalico_1_1sensors_1_1KannalaBrandtModel.html">KannalaBrandtModel</a>*<span class="keyword">&gt;</span>(<span class="keyword">this</span>)) {</div>
<div class="line"><a name="l01116"></a><span class="lineno"> 1116</span>&#160;    <span class="keywordflow">return</span> derived-&gt;UnprojectPixel(intrinsics, pixel);</div>
<div class="line"><a name="l01117"></a><span class="lineno"> 1117</span>&#160;  }</div>
<div class="line"><a name="l01118"></a><span class="lineno"> 1118</span>&#160;  <span class="keywordflow">if</span> (<span class="keyword">const</span> <span class="keyword">auto</span> derived = <span class="keyword">dynamic_cast&lt;</span><span class="keyword">const </span><a class="code" href="classcalico_1_1sensors_1_1DoubleSphereModel.html">DoubleSphereModel</a>*<span class="keyword">&gt;</span>(<span class="keyword">this</span>)) {</div>
<div class="line"><a name="l01119"></a><span class="lineno"> 1119</span>&#160;    <span class="keywordflow">return</span> derived-&gt;UnprojectPixel(intrinsics, pixel);</div>
<div class="line"><a name="l01120"></a><span class="lineno"> 1120</span>&#160;  }</div>
<div class="line"><a name="l01121"></a><span class="lineno"> 1121</span>&#160;  <span class="keywordflow">if</span> (<span class="keyword">const</span> <span class="keyword">auto</span> derived = <span class="keyword">dynamic_cast&lt;</span><span class="keyword">const </span><a class="code" href="classcalico_1_1sensors_1_1FieldOfViewModel.html">FieldOfViewModel</a>*<span class="keyword">&gt;</span>(<span class="keyword">this</span>)) {</div>
<div class="line"><a name="l01122"></a><span class="lineno"> 1122</span>&#160;    <span class="keywordflow">return</span> derived-&gt;UnprojectPixel(intrinsics, pixel);</div>
<div class="line"><a name="l01123"></a><span class="lineno"> 1123</span>&#160;  }</div>
<div class="line"><a name="l01124"></a><span class="lineno"> 1124</span>&#160;  <span class="keywordflow">if</span> (<span class="keyword">const</span> <span class="keyword">auto</span> derived = <span class="keyword">dynamic_cast&lt;</span><span class="keyword">const </span><a class="code" href="classcalico_1_1sensors_1_1UnifiedCameraModel.html">UnifiedCameraModel</a>*<span class="keyword">&gt;</span>(<span class="keyword">this</span>)) {</div>
<div class="line"><a name="l01125"></a><span class="lineno"> 1125</span>&#160;    <span class="keywordflow">return</span> derived-&gt;UnprojectPixel(intrinsics, pixel);</div>
<div class="line"><a name="l01126"></a><span class="lineno"> 1126</span>&#160;  }</div>
<div class="line"><a name="l01127"></a><span class="lineno"> 1127</span>&#160;  <span class="keywordflow">if</span> (<span class="keyword">const</span> <span class="keyword">auto</span> derived =</div>
<div class="line"><a name="l01128"></a><span class="lineno"> 1128</span>&#160;          <span class="keyword">dynamic_cast&lt;</span><span class="keyword">const </span><a class="code" href="classcalico_1_1sensors_1_1ExtendedUnifiedCameraModel.html">ExtendedUnifiedCameraModel</a>*<span class="keyword">&gt;</span>(<span class="keyword">this</span>)) {</div>
<div class="line"><a name="l01129"></a><span class="lineno"> 1129</span>&#160;    <span class="keywordflow">return</span> derived-&gt;UnprojectPixel(intrinsics, pixel);</div>
<div class="line"><a name="l01130"></a><span class="lineno"> 1130</span>&#160;  }</div>
<div class="line"><a name="l01131"></a><span class="lineno"> 1131</span>&#160;  <span class="keywordflow">return</span> absl::InvalidArgumentError(absl::StrCat(</div>
<div class="line"><a name="l01132"></a><span class="lineno"> 1132</span>&#160;      <span class="stringliteral">&quot;UnprojectPixel for camera model &quot;</span>, this-&gt;<a class="code" href="classcalico_1_1sensors_1_1CameraModel.html#a9384a7307fc7a48d310f361f3b0b4a17">GetType</a>(), <span class="stringliteral">&quot; not supported.&quot;</span>));</div>
<div class="line"><a name="l01133"></a><span class="lineno"> 1133</span>&#160;}</div>
<div class="line"><a name="l01134"></a><span class="lineno"> 1134</span>&#160; </div>
<div class="line"><a name="l01135"></a><span class="lineno"> 1135</span>&#160;} <span class="comment">// namespace calico::sensors</span></div>
<div class="line"><a name="l01136"></a><span class="lineno"> 1136</span>&#160; </div>
<div class="line"><a name="l01137"></a><span class="lineno"> 1137</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// CALICO_SENSORS_CAMERA_MODELS_H_</span></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1CameraModel_html"><div class="ttname"><a href="classcalico_1_1sensors_1_1CameraModel.html">calico::sensors::CameraModel</a></div><div class="ttdoc">Base class for camera models.</div><div class="ttdef"><b>Definition:</b> camera_models.h:36</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1CameraModel_html_a9384a7307fc7a48d310f361f3b0b4a17"><div class="ttname"><a href="classcalico_1_1sensors_1_1CameraModel.html#a9384a7307fc7a48d310f361f3b0b4a17">calico::sensors::CameraModel::GetType</a></div><div class="ttdeci">virtual CameraIntrinsicsModel GetType() const =0</div><div class="ttdoc">Getter for camera model type.</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1CameraModel_html_a9724081a0bfba064a65bde83cded5dc9"><div class="ttname"><a href="classcalico_1_1sensors_1_1CameraModel.html#a9724081a0bfba064a65bde83cded5dc9">calico::sensors::CameraModel::UnprojectPixel</a></div><div class="ttdeci">absl::StatusOr&lt; Eigen::Vector3&lt; T &gt; &gt; UnprojectPixel(const Eigen::VectorX&lt; T &gt; &amp;intrinsics, const Eigen::Vector2&lt; T &gt; &amp;pixel) const</div><div class="ttdef"><b>Definition:</b> camera_models.h:1106</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1CameraModel_html_aab677e475ba93fc317ecafc43f4d4711"><div class="ttname"><a href="classcalico_1_1sensors_1_1CameraModel.html#aab677e475ba93fc317ecafc43f4d4711">calico::sensors::CameraModel::NumberOfParameters</a></div><div class="ttdeci">virtual int NumberOfParameters() const =0</div><div class="ttdoc">Getter for the number of parameters for this camera model.</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1CameraModel_html_aeda2cd0d8d899ba285a7e610b32fd2a4"><div class="ttname"><a href="classcalico_1_1sensors_1_1CameraModel.html#aeda2cd0d8d899ba285a7e610b32fd2a4">calico::sensors::CameraModel::Create</a></div><div class="ttdeci">static std::unique_ptr&lt; CameraModel &gt; Create(CameraIntrinsicsModel camera_model)</div><div class="ttdef"><b>Definition:</b> camera_models.cpp:5</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1CameraModel_html_af2b6c4e6787815273879f81a216bc84d"><div class="ttname"><a href="classcalico_1_1sensors_1_1CameraModel.html#af2b6c4e6787815273879f81a216bc84d">calico::sensors::CameraModel::ProjectPoint</a></div><div class="ttdeci">absl::StatusOr&lt; Eigen::Vector2&lt; T &gt; &gt; ProjectPoint(const Eigen::VectorX&lt; T &gt; &amp;intrinsics, const Eigen::Vector3&lt; T &gt; &amp;point) const</div><div class="ttdef"><b>Definition:</b> camera_models.h:1076</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1DoubleSphereModel_html"><div class="ttname"><a href="classcalico_1_1sensors_1_1DoubleSphereModel.html">calico::sensors::DoubleSphereModel</a></div><div class="ttdef"><b>Definition:</b> camera_models.h:596</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1DoubleSphereModel_html_a032d0e2b98603b2ac675e4730295588a"><div class="ttname"><a href="classcalico_1_1sensors_1_1DoubleSphereModel.html#a032d0e2b98603b2ac675e4730295588a">calico::sensors::DoubleSphereModel::UnprojectPixel</a></div><div class="ttdeci">static absl::StatusOr&lt; Eigen::Vector3&lt; T &gt; &gt; UnprojectPixel(const Eigen::VectorX&lt; T &gt; &amp;intrinsics, const Eigen::Vector2&lt; T &gt; &amp;pixel)</div><div class="ttdef"><b>Definition:</b> camera_models.h:674</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1DoubleSphereModel_html_a911a3897069d2b40686bb79a13730fda"><div class="ttname"><a href="classcalico_1_1sensors_1_1DoubleSphereModel.html#a911a3897069d2b40686bb79a13730fda">calico::sensors::DoubleSphereModel::ProjectPoint</a></div><div class="ttdeci">static absl::StatusOr&lt; Eigen::Vector2&lt; T &gt; &gt; ProjectPoint(const Eigen::VectorX&lt; T &gt; &amp;intrinsics, const Eigen::Vector3&lt; T &gt; &amp;point)</div><div class="ttdef"><b>Definition:</b> camera_models.h:623</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1DoubleSphereModel_html_a9a567916e1aa137c22fca5ad36eb573a"><div class="ttname"><a href="classcalico_1_1sensors_1_1DoubleSphereModel.html#a9a567916e1aa137c22fca5ad36eb573a">calico::sensors::DoubleSphereModel::GetType</a></div><div class="ttdeci">CameraIntrinsicsModel GetType() const final</div><div class="ttdoc">Getter for camera model type.</div><div class="ttdef"><b>Definition:</b> camera_models.h:703</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1DoubleSphereModel_html_afc9cae152ae02f4aa347d92bab1144fa"><div class="ttname"><a href="classcalico_1_1sensors_1_1DoubleSphereModel.html#afc9cae152ae02f4aa347d92bab1144fa">calico::sensors::DoubleSphereModel::NumberOfParameters</a></div><div class="ttdeci">int NumberOfParameters() const final</div><div class="ttdoc">Getter for the number of parameters for this camera model.</div><div class="ttdef"><b>Definition:</b> camera_models.h:707</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1ExtendedUnifiedCameraModel_html"><div class="ttname"><a href="classcalico_1_1sensors_1_1ExtendedUnifiedCameraModel.html">calico::sensors::ExtendedUnifiedCameraModel</a></div><div class="ttdef"><b>Definition:</b> camera_models.h:961</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1ExtendedUnifiedCameraModel_html_a119f81e88f521033c248b167f57f2e50"><div class="ttname"><a href="classcalico_1_1sensors_1_1ExtendedUnifiedCameraModel.html#a119f81e88f521033c248b167f57f2e50">calico::sensors::ExtendedUnifiedCameraModel::NumberOfParameters</a></div><div class="ttdeci">int NumberOfParameters() const final</div><div class="ttdoc">Getter for the number of parameters for this camera model.</div><div class="ttdef"><b>Definition:</b> camera_models.h:1069</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1ExtendedUnifiedCameraModel_html_a537315af2f2b50d559f59b7a600b6747"><div class="ttname"><a href="classcalico_1_1sensors_1_1ExtendedUnifiedCameraModel.html#a537315af2f2b50d559f59b7a600b6747">calico::sensors::ExtendedUnifiedCameraModel::UnprojectPixel</a></div><div class="ttdeci">static absl::StatusOr&lt; Eigen::Vector3&lt; T &gt; &gt; UnprojectPixel(const Eigen::VectorX&lt; T &gt; &amp;intrinsics, const Eigen::Vector2&lt; T &gt; &amp;pixel)</div><div class="ttdef"><b>Definition:</b> camera_models.h:1036</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1ExtendedUnifiedCameraModel_html_a5a7ac9b9f7e9ae9219a63c8e9703874e"><div class="ttname"><a href="classcalico_1_1sensors_1_1ExtendedUnifiedCameraModel.html#a5a7ac9b9f7e9ae9219a63c8e9703874e">calico::sensors::ExtendedUnifiedCameraModel::GetType</a></div><div class="ttdeci">CameraIntrinsicsModel GetType() const final</div><div class="ttdoc">Getter for camera model type.</div><div class="ttdef"><b>Definition:</b> camera_models.h:1065</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1ExtendedUnifiedCameraModel_html_aef9842b6bb3ea901085c911db6e8126f"><div class="ttname"><a href="classcalico_1_1sensors_1_1ExtendedUnifiedCameraModel.html#aef9842b6bb3ea901085c911db6e8126f">calico::sensors::ExtendedUnifiedCameraModel::ProjectPoint</a></div><div class="ttdeci">static absl::StatusOr&lt; Eigen::Vector2&lt; T &gt; &gt; ProjectPoint(const Eigen::VectorX&lt; T &gt; &amp;intrinsics, const Eigen::Vector3&lt; T &gt; &amp;point)</div><div class="ttdef"><b>Definition:</b> camera_models.h:985</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1FieldOfViewModel_html"><div class="ttname"><a href="classcalico_1_1sensors_1_1FieldOfViewModel.html">calico::sensors::FieldOfViewModel</a></div><div class="ttdef"><b>Definition:</b> camera_models.h:716</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1FieldOfViewModel_html_a32b49ba158ffeda0d8fa8e9054be006c"><div class="ttname"><a href="classcalico_1_1sensors_1_1FieldOfViewModel.html#a32b49ba158ffeda0d8fa8e9054be006c">calico::sensors::FieldOfViewModel::ProjectPoint</a></div><div class="ttdeci">static absl::StatusOr&lt; Eigen::Vector2&lt; T &gt; &gt; ProjectPoint(const Eigen::VectorX&lt; T &gt; &amp;intrinsics, const Eigen::Vector3&lt; T &gt; &amp;point)</div><div class="ttdef"><b>Definition:</b> camera_models.h:740</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1FieldOfViewModel_html_a3b0c18a5fc0d7c14ff350a0aa828ae83"><div class="ttname"><a href="classcalico_1_1sensors_1_1FieldOfViewModel.html#a3b0c18a5fc0d7c14ff350a0aa828ae83">calico::sensors::FieldOfViewModel::GetType</a></div><div class="ttdeci">CameraIntrinsicsModel GetType() const final</div><div class="ttdoc">Getter for camera model type.</div><div class="ttdef"><b>Definition:</b> camera_models.h:834</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1FieldOfViewModel_html_a6fff8ec0495ed3a69ec2e2c0d229dd80"><div class="ttname"><a href="classcalico_1_1sensors_1_1FieldOfViewModel.html#a6fff8ec0495ed3a69ec2e2c0d229dd80">calico::sensors::FieldOfViewModel::NumberOfParameters</a></div><div class="ttdeci">int NumberOfParameters() const final</div><div class="ttdoc">Getter for the number of parameters for this camera model.</div><div class="ttdef"><b>Definition:</b> camera_models.h:838</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1FieldOfViewModel_html_ae83d5a0e11ce41216826ce49456ff1bd"><div class="ttname"><a href="classcalico_1_1sensors_1_1FieldOfViewModel.html#ae83d5a0e11ce41216826ce49456ff1bd">calico::sensors::FieldOfViewModel::UnprojectPixel</a></div><div class="ttdeci">static absl::StatusOr&lt; Eigen::Vector3&lt; T &gt; &gt; UnprojectPixel(const Eigen::VectorX&lt; T &gt; &amp;intrinsics, const Eigen::Vector2&lt; T &gt; &amp;pixel)</div><div class="ttdef"><b>Definition:</b> camera_models.h:798</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1KannalaBrandtModel_html"><div class="ttname"><a href="classcalico_1_1sensors_1_1KannalaBrandtModel.html">calico::sensors::KannalaBrandtModel</a></div><div class="ttdef"><b>Definition:</b> camera_models.h:395</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1KannalaBrandtModel_html_a281d7e03c171bf972fe5cf18f8bb69f7"><div class="ttname"><a href="classcalico_1_1sensors_1_1KannalaBrandtModel.html#a281d7e03c171bf972fe5cf18f8bb69f7">calico::sensors::KannalaBrandtModel::GetType</a></div><div class="ttdeci">CameraIntrinsicsModel GetType() const final</div><div class="ttdoc">Getter for camera model type.</div><div class="ttdef"><b>Definition:</b> camera_models.h:583</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1KannalaBrandtModel_html_a8f1cd503c0719cc9b3f2f8ea3dc18043"><div class="ttname"><a href="classcalico_1_1sensors_1_1KannalaBrandtModel.html#a8f1cd503c0719cc9b3f2f8ea3dc18043">calico::sensors::KannalaBrandtModel::NumberOfParameters</a></div><div class="ttdeci">int NumberOfParameters() const final</div><div class="ttdoc">Getter for the number of parameters for this camera model.</div><div class="ttdef"><b>Definition:</b> camera_models.h:587</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1KannalaBrandtModel_html_acaa2402b38fe11f49e54f18c3b775fa9"><div class="ttname"><a href="classcalico_1_1sensors_1_1KannalaBrandtModel.html#acaa2402b38fe11f49e54f18c3b775fa9">calico::sensors::KannalaBrandtModel::UnprojectPixel</a></div><div class="ttdeci">static absl::StatusOr&lt; Eigen::Vector3&lt; T &gt; &gt; UnprojectPixel(const Eigen::VectorX&lt; T &gt; &amp;intrinsics, const Eigen::Vector2&lt; T &gt; &amp;pixel, int max_iterations=100)</div><div class="ttdef"><b>Definition:</b> camera_models.h:479</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1KannalaBrandtModel_html_af7f67950a1adaf7005323f2320baee87"><div class="ttname"><a href="classcalico_1_1sensors_1_1KannalaBrandtModel.html#af7f67950a1adaf7005323f2320baee87">calico::sensors::KannalaBrandtModel::ProjectPoint</a></div><div class="ttdeci">static absl::StatusOr&lt; Eigen::Vector2&lt; T &gt; &gt; ProjectPoint(const Eigen::VectorX&lt; T &gt; &amp;intrinsics, const Eigen::Vector3&lt; T &gt; &amp;point)</div><div class="ttdef"><b>Definition:</b> camera_models.h:420</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1OpenCv5Model_html"><div class="ttname"><a href="classcalico_1_1sensors_1_1OpenCv5Model.html">calico::sensors::OpenCv5Model</a></div><div class="ttdef"><b>Definition:</b> camera_models.h:79</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1OpenCv5Model_html_a217beae32c405b834d83d05a6e13dfb1"><div class="ttname"><a href="classcalico_1_1sensors_1_1OpenCv5Model.html#a217beae32c405b834d83d05a6e13dfb1">calico::sensors::OpenCv5Model::UnprojectPixel</a></div><div class="ttdeci">static absl::StatusOr&lt; Eigen::Vector3&lt; T &gt; &gt; UnprojectPixel(const Eigen::VectorX&lt; T &gt; &amp;intrinsics, const Eigen::Vector2&lt; T &gt; &amp;pixel, int max_iterations=30)</div><div class="ttdef"><b>Definition:</b> camera_models.h:157</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1OpenCv5Model_html_a4aa78688f3baf12b5d6fef0216452f4a"><div class="ttname"><a href="classcalico_1_1sensors_1_1OpenCv5Model.html#a4aa78688f3baf12b5d6fef0216452f4a">calico::sensors::OpenCv5Model::ProjectPoint</a></div><div class="ttdeci">static absl::StatusOr&lt; Eigen::Vector2&lt; T &gt; &gt; ProjectPoint(const Eigen::VectorX&lt; T &gt; &amp;intrinsics, const Eigen::Vector3&lt; T &gt; &amp;point)</div><div class="ttdef"><b>Definition:</b> camera_models.h:105</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1OpenCv5Model_html_ac7d24a188775387ddab2468106e8fac3"><div class="ttname"><a href="classcalico_1_1sensors_1_1OpenCv5Model.html#ac7d24a188775387ddab2468106e8fac3">calico::sensors::OpenCv5Model::GetType</a></div><div class="ttdeci">CameraIntrinsicsModel GetType() const final</div><div class="ttdoc">Getter for camera model type.</div><div class="ttdef"><b>Definition:</b> camera_models.h:216</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1OpenCv5Model_html_afbdff9e7e22e38ead790b54a70eda378"><div class="ttname"><a href="classcalico_1_1sensors_1_1OpenCv5Model.html#afbdff9e7e22e38ead790b54a70eda378">calico::sensors::OpenCv5Model::NumberOfParameters</a></div><div class="ttdeci">int NumberOfParameters() const final</div><div class="ttdoc">Getter for the number of parameters for this camera model.</div><div class="ttdef"><b>Definition:</b> camera_models.h:220</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1OpenCv8Model_html"><div class="ttname"><a href="classcalico_1_1sensors_1_1OpenCv8Model.html">calico::sensors::OpenCv8Model</a></div><div class="ttdef"><b>Definition:</b> camera_models.h:231</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1OpenCv8Model_html_a4740ff63eef29b5266ba111dce582bc1"><div class="ttname"><a href="classcalico_1_1sensors_1_1OpenCv8Model.html#a4740ff63eef29b5266ba111dce582bc1">calico::sensors::OpenCv8Model::ProjectPoint</a></div><div class="ttdeci">static absl::StatusOr&lt; Eigen::Vector2&lt; T &gt; &gt; ProjectPoint(const Eigen::VectorX&lt; T &gt; &amp;intrinsics, const Eigen::Vector3&lt; T &gt; &amp;point)</div><div class="ttdef"><b>Definition:</b> camera_models.h:257</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1OpenCv8Model_html_ab39ea54fd42e21ef5341d4fe3a31b886"><div class="ttname"><a href="classcalico_1_1sensors_1_1OpenCv8Model.html#ab39ea54fd42e21ef5341d4fe3a31b886">calico::sensors::OpenCv8Model::GetType</a></div><div class="ttdeci">CameraIntrinsicsModel GetType() const final</div><div class="ttdoc">Getter for camera model type.</div><div class="ttdef"><b>Definition:</b> camera_models.h:380</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1OpenCv8Model_html_ae457ea890027858b20ff4f85eb69c0b7"><div class="ttname"><a href="classcalico_1_1sensors_1_1OpenCv8Model.html#ae457ea890027858b20ff4f85eb69c0b7">calico::sensors::OpenCv8Model::UnprojectPixel</a></div><div class="ttdeci">static absl::StatusOr&lt; Eigen::Vector3&lt; T &gt; &gt; UnprojectPixel(const Eigen::VectorX&lt; T &gt; &amp;intrinsics, const Eigen::Vector2&lt; T &gt; &amp;pixel, int max_iterations=30)</div><div class="ttdef"><b>Definition:</b> camera_models.h:314</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1OpenCv8Model_html_aea73193a91b42a0470a8f2f309d9af1f"><div class="ttname"><a href="classcalico_1_1sensors_1_1OpenCv8Model.html#aea73193a91b42a0470a8f2f309d9af1f">calico::sensors::OpenCv8Model::NumberOfParameters</a></div><div class="ttdeci">int NumberOfParameters() const final</div><div class="ttdoc">Getter for the number of parameters for this camera model.</div><div class="ttdef"><b>Definition:</b> camera_models.h:384</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1UnifiedCameraModel_html"><div class="ttname"><a href="classcalico_1_1sensors_1_1UnifiedCameraModel.html">calico::sensors::UnifiedCameraModel</a></div><div class="ttdef"><b>Definition:</b> camera_models.h:848</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1UnifiedCameraModel_html_a2be1cb30458a922f4617519b9ca8d3d5"><div class="ttname"><a href="classcalico_1_1sensors_1_1UnifiedCameraModel.html#a2be1cb30458a922f4617519b9ca8d3d5">calico::sensors::UnifiedCameraModel::GetType</a></div><div class="ttdeci">CameraIntrinsicsModel GetType() const final</div><div class="ttdoc">Getter for camera model type.</div><div class="ttdef"><b>Definition:</b> camera_models.h:948</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1UnifiedCameraModel_html_a5b40e5ca2c182674bed0a4b897ce4e77"><div class="ttname"><a href="classcalico_1_1sensors_1_1UnifiedCameraModel.html#a5b40e5ca2c182674bed0a4b897ce4e77">calico::sensors::UnifiedCameraModel::NumberOfParameters</a></div><div class="ttdeci">int NumberOfParameters() const final</div><div class="ttdoc">Getter for the number of parameters for this camera model.</div><div class="ttdef"><b>Definition:</b> camera_models.h:952</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1UnifiedCameraModel_html_ac9dfa3ba030bd1e9c85e3c01deeae3fe"><div class="ttname"><a href="classcalico_1_1sensors_1_1UnifiedCameraModel.html#ac9dfa3ba030bd1e9c85e3c01deeae3fe">calico::sensors::UnifiedCameraModel::ProjectPoint</a></div><div class="ttdeci">static absl::StatusOr&lt; Eigen::Vector2&lt; T &gt; &gt; ProjectPoint(const Eigen::VectorX&lt; T &gt; &amp;intrinsics, const Eigen::Vector3&lt; T &gt; &amp;point)</div><div class="ttdef"><b>Definition:</b> camera_models.h:872</div></div>
<div class="ttc" id="aclasscalico_1_1sensors_1_1UnifiedCameraModel_html_aeb14d14f836f56bd0cab2b0b00668356"><div class="ttname"><a href="classcalico_1_1sensors_1_1UnifiedCameraModel.html#aeb14d14f836f56bd0cab2b0b00668356">calico::sensors::UnifiedCameraModel::UnprojectPixel</a></div><div class="ttdeci">static absl::StatusOr&lt; Eigen::Vector3&lt; T &gt; &gt; UnprojectPixel(const Eigen::VectorX&lt; T &gt; &amp;intrinsics, const Eigen::Vector2&lt; T &gt; &amp;pixel)</div><div class="ttdef"><b>Definition:</b> camera_models.h:920</div></div>
<div class="ttc" id="anamespacecalico_1_1sensors_html"><div class="ttname"><a href="namespacecalico_1_1sensors.html">calico::sensors</a></div><div class="ttdoc">Sensors namespace.</div><div class="ttdef"><b>Definition:</b> accelerometer.cpp:8</div></div>
<div class="ttc" id="anamespacecalico_1_1sensors_html_a1eaf57959273c4ea8dc8899a2e724a2f"><div class="ttname"><a href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2f">calico::sensors::CameraIntrinsicsModel</a></div><div class="ttdeci">CameraIntrinsicsModel</div><div class="ttdoc">Camera model types.</div><div class="ttdef"><b>Definition:</b> camera_models.h:16</div></div>
<div class="ttc" id="anamespacecalico_1_1sensors_html_a1eaf57959273c4ea8dc8899a2e724a2fa2595f2f448ef0344029c159851eca78d"><div class="ttname"><a href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2fa2595f2f448ef0344029c159851eca78d">calico::sensors::CameraIntrinsicsModel::kExtendedUnifiedCamera</a></div><div class="ttdeci">@ kExtendedUnifiedCamera</div><div class="ttdoc">Extended unified camera model.</div></div>
<div class="ttc" id="anamespacecalico_1_1sensors_html_a1eaf57959273c4ea8dc8899a2e724a2fa35c3ace1970663a16e5c65baa5941b13"><div class="ttname"><a href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2fa35c3ace1970663a16e5c65baa5941b13">calico::sensors::CameraIntrinsicsModel::kNone</a></div><div class="ttdeci">@ kNone</div><div class="ttdoc">Default no model.</div></div>
<div class="ttc" id="anamespacecalico_1_1sensors_html_a1eaf57959273c4ea8dc8899a2e724a2fa5c5d81ff8c055e0af2d4080ca90f3b6d"><div class="ttname"><a href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2fa5c5d81ff8c055e0af2d4080ca90f3b6d">calico::sensors::CameraIntrinsicsModel::kOpenCv5</a></div><div class="ttdeci">@ kOpenCv5</div><div class="ttdoc">5-parameter OpenCV model.</div></div>
<div class="ttc" id="anamespacecalico_1_1sensors_html_a1eaf57959273c4ea8dc8899a2e724a2facdda420f3e6370295024788dcf9e846d"><div class="ttname"><a href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2facdda420f3e6370295024788dcf9e846d">calico::sensors::CameraIntrinsicsModel::kKannalaBrandt</a></div><div class="ttdeci">@ kKannalaBrandt</div><div class="ttdoc">Kannala-Brandt model.</div></div>
<div class="ttc" id="anamespacecalico_1_1sensors_html_a1eaf57959273c4ea8dc8899a2e724a2fad503d78b33140ff594ed435baf9ea03c"><div class="ttname"><a href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2fad503d78b33140ff594ed435baf9ea03c">calico::sensors::CameraIntrinsicsModel::kUnifiedCamera</a></div><div class="ttdeci">@ kUnifiedCamera</div><div class="ttdoc">Unified camera model.</div></div>
<div class="ttc" id="anamespacecalico_1_1sensors_html_a1eaf57959273c4ea8dc8899a2e724a2fadfc7df0f7b103737f5161a57e8f57c34"><div class="ttname"><a href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2fadfc7df0f7b103737f5161a57e8f57c34">calico::sensors::CameraIntrinsicsModel::kFieldOfView</a></div><div class="ttdeci">@ kFieldOfView</div><div class="ttdoc">Field-of-View model.</div></div>
<div class="ttc" id="anamespacecalico_1_1sensors_html_a1eaf57959273c4ea8dc8899a2e724a2faf69e1df9c2c0e23b808833cf5d08984f"><div class="ttname"><a href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2faf69e1df9c2c0e23b808833cf5d08984f">calico::sensors::CameraIntrinsicsModel::kOpenCv8</a></div><div class="ttdeci">@ kOpenCv8</div><div class="ttdoc">8-parameter OpenCV model.</div></div>
<div class="ttc" id="anamespacecalico_1_1sensors_html_a1eaf57959273c4ea8dc8899a2e724a2faff638d15c8b2b0f612376181393188fd"><div class="ttname"><a href="namespacecalico_1_1sensors.html#a1eaf57959273c4ea8dc8899a2e724a2faff638d15c8b2b0f612376181393188fd">calico::sensors::CameraIntrinsicsModel::kDoubleSphere</a></div><div class="ttdeci">@ kDoubleSphere</div><div class="ttdoc">Double-Sphere model.</div></div>
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